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公开(公告)号：US20230271797A1
公开(公告)日：2023-08-31
申请号：US18109613
申请日：2023-02-14
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Michael Fisher , Robert Holmberg , Harry Zhe Su , Talbot Morris-Downing , Timothy Ryan , Samir Menon
CPC classification number: B65G67/08 , B65G41/006 , B25J9/0093 , B65G2203/041
Abstract: A robotic system comprising a mobile chassis, a conveyor oriented substantially parallel to a longitudinal axis of the chassis, one or more robotic arms disposed adjacent to the conveyor, and one or more cameras positioned to view at least a portion of a top surface of the conveyor is disclosed. The system uses the mobile chassis, the conveyor, and the robotic arms to load items into a truck or other container, including by using image data generated by the one or more cameras to assess a state of items on the top surface of the conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the conveyor; and operate a robotically controlled structure to cause an item to be added to the top surface of the conveyor.
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公开(公告)号：US20230271323A1
公开(公告)日：2023-08-31
申请号：US18109611
申请日：2023-02-14
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Michael Fisher , Robert Holmberg , Harry Zhe Su , Talbot Morris-Downing , Timothy Ryan , Samir Menon
CPC classification number: B25J9/1669 , B25J5/007 , B25J9/126 , B25J9/162 , B25J9/1682 , B65G67/02
Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
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公开(公告)号：US20230191621A1
公开(公告)日：2023-06-22
申请号：US18107443
申请日：2023-02-08
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Harry Zhe Su
CPC classification number: B25J13/084 , B25J13/082 , B25J13/085 , B25J19/023 , B25J19/027
Abstract: A value associated with a plurality of measurement objects that are embedded in a material associated with an intermediate layer of a plurality of layers associated with a tactile sensing unit is sensed. The value associated with the plurality of measurement objects is sensed by a sensor that is included a layer below the intermediate layer of the tactile sensing unit. An output of the sensor is used to make a determination associated with engagement of a robotic arm end effector with an item.
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公开(公告)号：US20230134924A1
公开(公告)日：2023-05-04
申请号：US17978600
申请日：2022-11-01
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Talbot Morris-Downing , Harry Zhe Su , Rohun Kulkarni , Kevin Jose Chavez , Samir Menon , Toby Leonard Baker , David Leo Tondreau, III , Robert Holmberg
Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.
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公开(公告)号：US20230124672A1
公开(公告)日：2023-04-20
申请号：US18083932
申请日：2022-12-19
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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Patent Agency Ranking
公开(公告)号：US11559903B2
公开(公告)日：2023-01-24
申请号：US17374764
申请日：2021-07-13
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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公开(公告)号：US20210122056A1
公开(公告)日：2021-04-29
申请号：US17029415
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Harry Zhe Su
Abstract: A plurality of sensors are configured to provide respective outputs that reflect a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of the plurality of sensors are used to make a determination associated with engagement of a robotic arm end effector with an item. A first value measured by a first sensor is used to determine a first input associated with a first factor. A second value measured by a second sensor is used to determine a second input associated with a second factor. The first input and the second input are provided to a multi-factor model configured to provide, based at least in part on the first input and the second input, an output associated with engagement of the robotic arm end effector with the item. The output of the multi-factor model is used to make the determination associated with engagement of the robotic arm end effector with the item.
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公开(公告)号：US10906188B1
公开(公告)日：2021-02-02
申请号：US16916605
申请日：2020-06-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Kevin Jose Chavez , Samir Menon , Harry Zhe Su , Talbot Morris-Downing , Rohit Arka Pidaparthi , Ayush Sharma , Raphael Georg Wirth
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.
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公开(公告)号：US20210018914A1
公开(公告)日：2021-01-21
申请号：US17039817
申请日：2020-09-30
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
Abstract: An autonomous robot with on demand human intervention is disclosed. In various embodiments, a robot operates in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention. The robot determines that a strategy is not available to perform a next task autonomously. In response to the determination, the robot enters a human intervention mode of operation.
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公开(公告)号：US10824142B2
公开(公告)日：2020-11-03
申请号：US15968492
申请日：2018-05-01
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
Abstract: An autonomous robot with on demand human intervention is disclosed. In various embodiments, a robot operates in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention. The robot determines that a strategy is not available to perform a next task autonomously. In response to the determination, the robot enters a human intervention mode of operation.
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