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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：US20250091092A1
公开(公告)日：2025-03-20
申请号：US18970634
申请日：2024-12-05
Applicant: Dexterity, Inc.
Inventor： Darshan Hegde , Harry Zhe Su , Talbot Morris-Downing
Abstract: The present application discloses a system, a method, and a computer system for detecting objects that require special handling. The method includes (i) receiving image data from one or more cameras associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the image data, that an item requiring special handling has entered the source conveyor, and (iii) providing an output indicating that the item requiring special handling has been detected.
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公开(公告)号：US12240714B2
公开(公告)日：2025-03-04
申请号：US18109611
申请日：2023-02-14
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Michael Fisher , Robert Holmberg , Harry Zhe Su , Talbot Morris-Downing , Timothy Ryan , Samir Menon
Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
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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：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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Patent Agency Ranking
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：US20230302652A1
公开(公告)日：2023-09-28
申请号：US18126310
申请日：2023-03-24
Applicant: Dexterity, Inc.
Inventor： Rohun Kulkarni , Toby Leonard Baker , David Leo Tondreau, III , Harry Zhe Su , Talbot Morris-Downing , Darshan Hegde , Timothy Ryan
CPC classification number: B25J9/1697 , B25J9/0093 , B25J9/1679 , B25J13/006 , B25J13/082 , B25J9/1653
Abstract: The present application discloses a system, a method, and a computer system for handling items deemed to require special handling. The method includes (i) receiving via the communication interface an indication that a given item in a source of items requires special handling, and (ii) actuating an item diversion structure comprising or otherwise associated with the source of items to divert the given item to a location associated with alternative item handling.
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公开(公告)号：US11701776B2
公开(公告)日：2023-07-18
申请号：US17068572
申请日：2020-10-12
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
CPC classification number: B25J9/1664 , B25J9/1633 , B25J9/1679 , B25J9/1687 , B25J9/1694 , B25J13/085 , G05B2219/39322 , G05B2219/39529 , G05B2219/40032 , G05B2219/45063
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：US20200270071A1
公开(公告)日：2020-08-27
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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