公开(公告)号：US20240075615A1

公开(公告)日：2024-03-07

申请号：US18239600

申请日：2023-08-29

Applicant: Dexterity, Inc.

Inventor： Avinash Verma ,  Robert Holmberg ,  Gil Matzliach ,  Luis Sentis ,  Salvador Perez ,  Samir Menon ,  Zhouwen Sun

IPC: B25J9/16 ,  B25J9/00 ,  B25J9/02

CPC classification number: B25J9/1643 ,  B25J9/0009 ,  B25J9/0087 ,  B25J9/023 ,  B25J9/1682

Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.

公开(公告)号：US20240033937A1

公开(公告)日：2024-02-01

申请号：US18485212

申请日：2023-10-11

Applicant: Dexterity, Inc.

Inventor： Kevin Jose Chavez ,  Zhouwen Sun ,  Rohit Arka Pidaparthi ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Ben Varkey Benjamin Pottayil ,  Samir Menon

IPC: B25J9/16 ,  G06T7/55 ,  G06T7/70 ,  G06T7/12 ,  G06T7/13

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/1687 ,  B25J9/1674 ,  B25J9/1692 ,  G06T7/55 ,  G06T7/70 ,  G06T7/12 ,  G06T7/13 ,  B25J9/1689 ,  G06T2207/10028

Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.

公开(公告)号：US20230331411A1

公开(公告)日：2023-10-19

申请号：US18212121

申请日：2023-06-20

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Gerald Brantner ,  Zhouwen Sun ,  Robert Hegdahl ,  Kevin Jose Chavez

IPC: B65B43/52 ,  B65B57/14 ,  B65B43/54 ,  B25J9/16 ,  B65B5/08 ,  B65B35/54 ,  B65B5/12

CPC classification number: B65B5/08 ,  B25J9/1679 ,  B25J9/1697 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65B57/14 ,  B25J9/1689

Abstract: A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval.

公开(公告)号：US20230302644A1

公开(公告)日：2023-09-28

申请号：US18202524

申请日：2023-05-26

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Ivan Alberto Trujillo Priego ,  Talbot Morris-Downing ,  Zhouwen Sun ,  Kevin Jose Chavez ,  Alberto Leyva Arvayo ,  Cyril Nader ,  Farshid Farhat

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1679 ,  B25J9/1694 ,  B25J9/1633 ,  B25J9/1687 ,  B25J13/085

Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

公开(公告)号：US20230264351A1

公开(公告)日：2023-08-24

申请号：US18099886

申请日：2023-01-20

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Zhouwen Sun

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J19/0004

Abstract: A robotic system with independently controllable higher derivatives is disclosed. An indication is received of a trajectory through which an end effector comprising a robotic arm is to be moved. A plan is determined to use a combination of one or more motors and one or more energy removal devices to move one or more elements comprising the robotic arm in a manner that will result in the end effector being moved through the trajectory, including by using the one or more motors to apply torque to said one or more elements comprising the robotic arm during a first interval and using the one or more energy removal devices to remove energy from one or more of said elements during a second interval that starts after the start of the first interval. Commands to implement the plan are sent via a communication interface.

公开(公告)号：US11731792B2

公开(公告)日：2023-08-22

申请号：US16143278

申请日：2018-09-26

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Gerald Brantner ,  Zhouwen Sun ,  Robert Hegdahl ,  Kevin Jose Chavez

IPC: B25J9/16 ,  B65B5/08 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65G1/137 ,  G05D1/00 ,  G06Q10/08 ,  B65B57/14

CPC classification number: B65B5/08 ,  B25J9/1679 ,  B25J9/1697 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65B57/14 ,  B25J9/1689

Abstract: A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval.

公开(公告)号：US11669930B2

公开(公告)日：2023-06-06

申请号：US16667661

申请日：2019-10-29

Applicant: Dexterity, Inc.

Inventor： Kevin Jose Chavez ,  Yuan Gao ,  Rohit Pidaparthi ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Samir Menon

IPC: G06T1/00 ,  G06T1/20 ,  G06T7/174 ,  G06T7/593 ,  G06T7/90 ,  H04N13/204

CPC classification number: G06T1/0014 ,  G06T1/20 ,  G06T7/174 ,  G06T7/593 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20221 ,  H04N13/204

Abstract: A multicamera image processing system is disclosed. In various embodiments, image data is received from each of a plurality of sensors associated with a workspace, the image data comprising for each sensor in the plurality of sensors one or both of visual image information and depth information. Image data from the plurality of sensors is merged to generate a merged point cloud data. Segmentation is performed based on visual image data from at least a subset of the sensors in the plurality of sensors to generate a segmentation result. One or both of the merged point cloud data and the segmentation result is/are used to generate a merged three dimensional and segmented view of the workspace.

公开(公告)号：US20230158676A1

公开(公告)日：2023-05-25

申请号：US17978610

申请日：2022-11-01

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Rohun Kulkarni ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Samir Menon ,  Kevin Jose Chavez ,  Robert Holmberg ,  Alberto Leyva Arvayo ,  Toby Leonard Baker

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02

CPC classification number: B25J9/1682 ,  B25J9/1669 ,  B25J9/1697 ,  B25J9/1633 ,  B25J9/1666 ,  B25J13/082 ,  B25J13/085 ,  B25J19/023

Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.

公开(公告)号：US20230143976A1

公开(公告)日：2023-05-11

申请号：US18096846

申请日：2023-01-13

Applicant: Dexterity, Inc.

Inventor： Kevin Jose Chavez ,  Yuan Gao ,  Rohit Arka Pidaparthi ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Samir Menon

IPC: B65G47/90 ,  B25J9/16

CPC classification number: B65G47/905 ,  B25J9/1697

Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.

公开(公告)号：US20210206587A1

公开(公告)日：2021-07-08

申请号：US17211679

申请日：2021-03-24

Applicant: Dexterity, Inc.

Inventor： Kevin Jose Chavez ,  Yuan Gao ,  Rohit Pidaparthi ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Samir Menon

IPC: B65G47/90 ,  B25J9/16

Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.