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公开(公告)号：US10994949B2
公开(公告)日：2021-05-04
申请号：US16716284
申请日：2019-12-16
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
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.
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公开(公告)号：US20210122586A1
公开(公告)日：2021-04-29
申请号：US17132426
申请日：2020-12-23
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. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are 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：US20210122039A1
公开(公告)日：2021-04-29
申请号：US17029418
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.
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公开(公告)号：US20200269429A1
公开(公告)日：2020-08-27
申请号：US16797359
申请日：2020-02-21
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Robert Hegdahl , Yuan Gao , Andrew Lovett , Roger Lam Hau , Samir Menon
Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.
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公开(公告)号：US12285872B2
公开(公告)日：2025-04-29
申请号：US18428427
申请日：2024-01-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , William Arthur Clary , Kevin Jose Chavez , Ben Varkey Benjamin Pottayil , Rohit Arka Pidaparthi , Roger Lam Hau , Samir Menon
IPC: B25J9/16
Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.
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Patent Agency Ranking
公开(公告)号：US20250114940A1
公开(公告)日：2025-04-10
申请号：US18988590
申请日：2024-12-19
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
Abstract: A manifest or other data indicating a high-level objective to move a plurality of items from a source location to a destination location is received. The manifest or other data is utilized to generate a plan to pick and place the plurality of items from the source location to the destination location in a particular order and manner. A first item of the plurality of items is moved to a first location at the destination location as indicated by the manifest or other data using a robotic arm having an end effector. Force sensor information generated by a force sensor is received. The force sensor information is used to align a structure comprising the first item with an opening associated with the first location. The first item is inserted into the opening associated with the first location.
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公开(公告)号：US12240123B2
公开(公告)日：2025-03-04
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
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.
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公开(公告)号：US20250010484A1
公开(公告)日：2025-01-09
申请号：US18896738
申请日：2024-09-25
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：US12045052B2
公开(公告)日：2024-07-23
申请号：US18138618
申请日：2023-04-24
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
CPC classification number: G05D1/0061 , B25J9/1689 , G05D1/0027 , G05D1/0088
Abstract: A robot is operated in an autonomous mode of operation in which the robot autonomously selects a strategy to pick up an item. The item is moved from an initial location to a destination location using the selected strategy. It is determined whether one or more strategies are available to pick up the item in response to the item being dropped while the item is being moved from the initial location to the destination location. It is determined that a further strategy is not available to pick up the item. In response to the determination that the further strategy is not available, a human intervention mode of operation is entered.
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公开(公告)号：US20240228191A1
公开(公告)日：2024-07-11
申请号：US18393504
申请日：2023-12-21
Applicant: Dexterity, Inc.
Inventor： Shitij Kumar , Michael Root , Varun Uday Nayak , Cuthbert Sun , Kunal Shah , Yuan Gao , Zhouwen Sun , Andrew Bylard , Diego Rodriguez , Samir Menon
IPC: B65G47/90
CPC classification number: B65G47/905
Abstract: A robotic system receives from a first agent included in a plurality of robotically controlled agents a request to be provided a motion plan to perform a first pick and place task assigned to the first agent. A first motion plan is determined for the first agent, including by taking into consideration a second motion plan associated with a second agent included in the plurality of robotically controlled agents to perform a second pick and place task assigned to the second agent, at least in part by considering a swept volume associated with at least a remaining uncompleted portion of the second motion plan as an obstacle with which the first agent will not collide while implementing the first motion plan.
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