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公开(公告)号：US20250100140A1
公开(公告)日：2025-03-27
申请号：US18896341
申请日：2024-09-25
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Jordan Cedarleaf-Pavy , Prabhat Sinha , Samir Menon , Zhouwen Sun
Abstract: A robotic system with autonomous gripper selection is disclosed. Sensor data is received from a sensor in a workspace. The sensor data is used to determine an end effector to be used to perform a task with respect to an object in the workspace. The determined end effector is autonomously mounted on a free moving end of a robotic arm comprising the robotic system, and the robotic arm and end effector are used to perform the task with respect to the object.
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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：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：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：US20240091814A1
公开(公告)日：2024-03-21
申请号：US18238322
申请日：2023-08-25
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Roger Lam Hau , Zhouwen Sun , Prabhat Kumar Sinha
CPC classification number: B07C3/006 , B65G1/1373
Abstract: A robotic sorting system, method, and device is disclosed. The robotic sorting system includes a communication interface, and one or more processors coupled to the communication interface. The one or more processors are configured to (a) obtain item data via the communication interface, the item data including an indication of one or more items to be routed across a plurality of outbound stations, (b) obtain capability data for the plurality of outbound stations, the capability data indicating one or more capabilities for at least one outbound station, (c) determine a plan to route a selected item to a destination outbound station selected from among the plurality of outbound station, the plan being determined based at least in part on the item data and the capability data for the destination outbound station, and (d) cause the plan to be implemented to route the item to a particular handling path associated with the destination outbound station.
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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：US20240002163A1
公开(公告)日：2024-01-04
申请号：US18214938
申请日：2023-06-27
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Holmberg , Michael Fisher , David Turney
CPC classification number: B65G43/10 , B65G41/02 , B65G41/001 , B65G2203/0283
Abstract: A robotic system is disclosed comprising a communication interface and a processor coupled to the communication interface and configured to: receive via the communication interface an indication to establish a conveyance path to convey one or more items from a source location at an originating end of the conveyance path to a destination location at a terminating end of the conveyance path; determine programmatically a plan to arrange and configured one or more conveyance structures to provide the conveyance path; and invoke one or more robots to position, couple as needed, and configure as needed the one or more conveyance structures to provide the conveyance path.
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公开(公告)号：US20240002153A1
公开(公告)日：2024-01-04
申请号：US18214086
申请日：2023-06-26
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Wen Hsuan Hsieh , Zhouwen Sun
IPC: B65G1/137 , B65G1/04 , G06Q10/087
CPC classification number: B65G1/1375 , B65G1/0492 , G06Q10/087
Abstract: A robotic system comprising a plurality of autonomously acting robots configured to cooperate with each other to perform an operation is disclosed. In various embodiments, a system as disclosed herein includes a first robot configured to determine a plurality of items required to be obtained to fulfill a first order; and a second robot configured to receive an indication to retrieve and provide to the first robot a first item included in the plurality of items; and to plan and perform a first subtask to retrieve the first item and provide the first item to the first robot.
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