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公开(公告)号：US20250100819A1
公开(公告)日：2025-03-27
申请号：US18973428
申请日：2024-12-09
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.
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公开(公告)号：US20250091212A1
公开(公告)日：2025-03-20
申请号：US18902080
申请日：2024-09-30
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：US12214512B2
公开(公告)日：2025-02-04
申请号：US18238048
申请日：2023-08-25
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. 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：US20250010481A1
公开(公告)日：2025-01-09
申请号：US18750263
申请日：2024-06-21
Applicant: Dexterity, Inc.
Inventor： Neeraja Abhyankar , Harry Zhe Su , Joseph W. Weber , Kevin Jose Chavez , Neeraj Basu , Cuthbert Sun , Vikram Ramanathan , Arth Beladiya
IPC: B25J9/16
Abstract: Performing a “cold start” of a robotic stacking operation is disclosed. In various embodiments, estimated state information representing an estimated state of one or both of a receptacle and one or more objects stacked on or in the receptacle is stored. An indication is received that the estimated state information is not suitable to make a next placement decision with respect to a next object to be stacked on or in the receptacle. Constructed estimated state information is generated at least in part by processing sensor information generated by one or more sensors positioned and configured to generate sensor information providing an at least partial view of one or both of the receptacle and the one or more objects stacked on or in the receptacle.
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公开(公告)号：US12157644B2
公开(公告)日：2024-12-03
申请号：US17217474
申请日：2021-03-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
Abstract: A robotic line kitting system is disclosed. In various embodiments, a sensor reading associated with a force sensor associated with a robotic instrumentality comprising the robotic line kitting system is received. It is determined based at least in part on the sensor reading that a condition requiring human intervention has been detected. A task to be performed by a human worker to correct the condition is scheduled.
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Patent Agency Ranking
公开(公告)号：US20240140731A1
公开(公告)日：2024-05-02
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
CPC classification number: B65G47/905 , B25J9/1651 , B25J9/1661 , B25J9/1666 , B25J9/1676 , B25J9/1679 , B25J9/1697 , B25J13/089 , B65G2203/0283 , B65G2203/041
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.
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公开(公告)号：US20240042613A1
公开(公告)日：2024-02-08
申请号：US18234825
申请日：2023-08-16
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
CPC classification number: B25J9/1682 , B25J15/0616 , B25J13/08 , B25J9/1697 , B25J9/1669 , B25J9/0087
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：US11851290B2
公开(公告)日：2023-12-26
申请号：US18096846
申请日：2023-01-13
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
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.
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公开(公告)号：US11772269B2
公开(公告)日：2023-10-03
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
CPC classification number: B25J9/1682 , B25J9/0087 , B25J9/1669 , B25J9/1697 , B25J13/08 , B25J15/0616
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：US20230278219A1
公开(公告)日：2023-09-07
申请号：US18100900
申请日：2023-01-24
Applicant: Dexterity, Inc.
Inventor： Jonathan Kuck , Zhouwen Sun , Jacopo Banfi , Vikram Ramanathan , William Arthur Clary , Kevin Jose Chavez
IPC: B25J9/16
CPC classification number: B25J9/1687 , B25J9/1653 , B25J9/1661
Abstract: The present application discloses a method, system, and computer system for sequencing a set of objects to be loaded into a transport container. The method includes (i) receiving an indication of the set of objects to be loaded into the transport container for transport from a source location to a destination location, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, a sequence according to which the set of objects are to be loaded into the transport container, and (iii) providing the sequence to a robotic system to implement in connection with loading the set of objects to the transport container.
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