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    AUTONOMOUS UNKNOWN OBJECT PICK AND PLACE
    61.
    发明申请
    AUTONOMOUS UNKNOWN OBJECT PICK AND PLACE 审中-公开

    公开(公告)号：US20200316782A1

    公开(公告)日：2020-10-08

    申请号：US16834115

    申请日：2020-03-30

    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

    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.

    ROBOTIC KITTING SYSTEM
    62.
    发明申请
    ROBOTIC KITTING SYSTEM 审中-公开

    公开(公告)号：US20200095001A1

    公开(公告)日：2020-03-26

    申请号：US16224513

    申请日：2018-12-18

    Applicant: Dexterity, Inc.

    Inventor： Samir Menon ,  Robert Hegdahl ,  Zhouwen Sun ,  Kevin Jose Chavez ,  Talbot Morris-Downing ,  Cuthbert Sun

    IPC: B65B35/54 ,  B65B5/08 ,  B65B5/12 ,  B65B57/14 ,  B65G65/00 ,  B65G47/26 ,  B65G43/08

    Abstract: A kitting system is disclosed. In various embodiments, the kitting system includes a conveyance structure configured to impart to an item a first net resultant force substantially in a first direction, wherein the first direction is associated with a direction of flow from a source end of the conveyance structure to a destination end opposite the source end and associated with a pick-up zone from which the item is to be retrieved; a sensor configured to provide a sensor output associated with the pick-up zone; and a processor configured to provide a control input to one or both of the conveyance structure and a disrupter device associated with the conveyance structure based at least in part on the sensor output.

    Autonomous unknown object pick and place
    63.
    发明授权
    Autonomous unknown object pick and place 有权

    公开(公告)号：US12296493B2

    公开(公告)日：2025-05-13

    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 ,  G06T7/12 ,  G06T7/13 ,  G06T7/55 ,  G06T7/70

    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.

    Robotic system with zone-based control
    64.
    发明授权
    Robotic system with zone-based control 有权

    公开(公告)号：US12258224B2

    公开(公告)日：2025-03-25

    申请号：US18407242

    申请日：2024-01-08

    Applicant: Dexterity, Inc.

    Inventor： Zhouwen Sun ,  Cuthbert Sun ,  Andrew Nguyen ,  Samuel Tay ,  Emilie Peck ,  Kevin Jose Chavez ,  Robert Holmberg

    IPC: B25J13/08 ,  B25J5/02 ,  B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J19/06 ,  B65G1/137 ,  B65G47/90 ,  B65G61/00 ,  F16P3/08 ,  F16P3/14

    Abstract: Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.

    ROBOTIC TOOLSET AND GRIPPER
    65.
    发明申请
    ROBOTIC TOOLSET AND GRIPPER 有权

    公开(公告)号：US20250010493A1

    公开(公告)日：2025-01-09

    申请号：US18891786

    申请日：2024-09-20

    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.

    ROBOT WITH SEVEN OR MORE DEGREES OF FREEDOM
    69.
    发明公开
    ROBOT WITH SEVEN OR MORE DEGREES OF FREEDOM 审中-公开

    公开(公告)号：US20240058960A1

    公开(公告)日：2024-02-22

    申请号：US18233260

    申请日：2023-08-11

    Applicant: Dexterity, Inc.

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

    IPC: B25J9/16 ,  B25J17/02

    CPC classification number: B25J9/1664 ,  B25J17/0283

    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.

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