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公开(公告)号：US20250083333A1
公开(公告)日：2025-03-13
申请号：US18889214
申请日：2024-09-18
Applicant: Dexterity, Inc.
Inventor： Alberto Leyva Arvayo , Cyril Nader , Varun Uday Nayak , Andrew Lovett , Shitij Kumar
IPC: B25J15/00
Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be attached to a robotic arm at a central portion of the lateral member, a passive side member fixedly mounted to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member hinged to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.
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公开(公告)号：US20230321841A1
公开(公告)日：2023-10-12
申请号：US18210001
申请日：2023-06-14
Applicant: Dexterity, Inc.
Inventor： Alberto Leyva Arvayo , Cyril Nader , Varun Uday Nayak , Andrew Lovett , Shitij Kumar
IPC: B25J15/00
CPC classification number: B25J15/0028
Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be attached to a robotic arm at a central portion of the lateral member, a passive side member fixedly mounted to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member hinged to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.
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公开(公告)号：US20220402134A1
公开(公告)日：2022-12-22
申请号：US17838034
申请日：2022-06-10
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 configured to store estimated state information associated with a computer simulation of a robotic operation to stack a plurality of items on a pallet or other receptacle. The system includes one or more processors coupled to the communication interface and configured to perform the computer simulation. The computer simulation is performed at least in part by combining geometric model data based on idealized simulated robotic placement of each item with programmatically generated noise data. The programmatically generated noise data reflects an estimation of the effect that one or more sources of noise in a real-world physical workspace with which the computer simulation is associated would have on a real-world state of the plurality of items and/or the pallet or other receptacle if the plurality of items were stacked on the pallet or other receptacle as simulated in the computer simulation.
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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：US11731287B2
公开(公告)日：2023-08-22
申请号：US17712915
申请日：2022-04-04
Applicant: Dexterity, Inc.
Inventor： Alberto Leyva Arvayo , Cyril Nader , Varun Uday Nayak , Andrew Lovett , Shitij Kumar
IPC: B25J15/00
CPC classification number: B25J15/0028
Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be coupled to a robotic arm, a passive side member coupled substantially rigidly to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member coupled to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.
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Patent Agency Ranking
公开(公告)号：US20220402710A1
公开(公告)日：2022-12-22
申请号：US17837779
申请日：2022-06-10
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：US20220315352A1
公开(公告)日：2022-10-06
申请号：US17219503
申请日：2021-03-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image including data associated with an item present in a workspace in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.
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公开(公告)号：US20240424676A1
公开(公告)日：2024-12-26
申请号：US18750256
申请日：2024-06-21
Applicant: Dexterity, Inc.
Inventor： Andrew Bylard , Zhouwen Sun , Shitij Kumar
Abstract: Use of hardware-accelerated raytracing for intelligent robot task execution is disclosed. In various embodiments, data comprising a geometric representation of a robot and one or more obstacles in a workspace in which the robot is located are used to determine, with respect to a pose of the robot in the workspace, whether the pose is associated with a collision condition with respect to one or more of the one or more obstacles, at least in part by performing hardware accelerated ray tracing with respect to rays originating from each of a plurality of points associated with the robot.
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公开(公告)号：US20240293936A1
公开(公告)日：2024-09-05
申请号：US18593645
申请日：2024-03-01
Applicant: Dexterity, Inc.
Inventor： Wen Hsuan Hsieh , Samir Menon , Zhouwen Sun , Shitij Kumar , Andrew Bylard
CPC classification number: B25J9/1687 , B25J9/1612 , B25J9/1633 , B25J9/1697 , B65G61/00
Abstract: A robotic system is disclosed. In various embodiments, sensor data is received. A plan is determined, based at least in part on the received sensor data, to use a robotic arm to build a stack of items comprising a plurality of items, the plan including with respect to at least a subset of the items a plan to move the item to an initial position on the stack and then reposition and use the robotic arm to pack the item more snugly against an adjacent surface. The plan is implemented at least in part by sending one or more commands to a robotic arm.
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公开(公告)号：US11833669B2
公开(公告)日：2023-12-05
申请号：US17219509
申请日：2021-03-31
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
CPC classification number: B25J15/0683 , B25J9/0093
Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.
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