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1.发明授权公开(公告)号：US11097418B2
公开(公告)日：2021-08-24
申请号：US15862514
申请日：2018-01-04
Applicant: X Development LLC
Inventor： Umashankar Nagarajan , Bianca Homberg
IPC: G05B19/04 , B25J9/16 , G05B19/418
Abstract: Grasping of an object, by an end effector of a robot, based on a grasp strategy that is selected using one or more machine learning models. The grasp strategy utilized for a given grasp is one of a plurality of candidate grasp strategies. Each candidate grasp strategy defines a different group of one or more values that influence performance of a grasp attempt in a manner that is unique relative to the other grasp strategies. For example, value(s) of a grasp strategy can define a grasp direction for grasping the object (e.g., “top”, “side”), a grasp type for grasping the object (e.g., “pinch”, “power”), grasp force applied in grasping the object, pre-grasp manipulations to be performed on the object, and/or post-grasp manipulations to be performed on the object.
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公开(公告)号：US20190176348A1
公开(公告)日：2019-06-13
申请号：US15839045
申请日：2017-12-12
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto , Alex Shafer
CPC classification number: B25J19/023 , B25J9/1035 , B25J13/085 , B25J13/086 , B25J15/0004 , B25J15/0213 , B25J15/12
Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
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公开(公告)号：US20220339803A1
公开(公告)日：2022-10-27
申请号：US17857443
申请日：2022-07-05
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto , Alex Shafer
Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
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4.发明申请公开(公告)号：US20210347040A1
公开(公告)日：2021-11-11
申请号：US17379091
申请日：2021-07-19
Applicant: X Development LLC
Inventor： Umashankar Nagarajan , Bianca Homberg
IPC: B25J9/16 , G05B19/418
Abstract: Grasping of an object, by an end effector of a robot, based on a grasp strategy that is selected using one or more machine learning models. The grasp strategy utilized for a given grasp is one of a plurality of candidate grasp strategies. Each candidate grasp strategy defines a different group of one or more values that influence performance of a grasp attempt in a manner that is unique relative to the other grasp strategies. For example, value(s) of a grasp strategy can define a grasp direction for grasping the object (e.g., “top”, “side”), a grasp type for grasping the object (e.g., “pinch”, “power”), grasp force applied in grasping the object, pre-grasp manipulations to be performed on the object, and/or post-grasp manipulations to be performed on the object.
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公开(公告)号：US20210187735A1
公开(公告)日：2021-06-24
申请号：US17193809
申请日：2021-03-05
Applicant: X Development LLC
Inventor： Bianca Homberg , Jeffrey Bingham
IPC: B25J9/16
Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.
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Patent Agency Ranking
公开(公告)号：US10967507B2
公开(公告)日：2021-04-06
申请号：US15968922
申请日：2018-05-02
Applicant: X Development LLC
Inventor： Bianca Homberg , Jeffrey Bingham
IPC: B25J9/16
Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.
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公开(公告)号：US10792809B2
公开(公告)日：2020-10-06
申请号：US15839109
申请日：2017-12-12
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto
Abstract: A method is provided that includes controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object. The method also includes receiving, from at least one non-contact sensor on the robotic gripping device, first sensor data indicative of a region between the plurality of digits of the robotic gripping device. The method further includes receiving, from the at least one non-contact sensor on the robotic gripping device, second sensor data indicative of the region between the plurality of digits of the robotic gripping device, where the second sensor data is based on a different sensing modality than the first sensor data. The method additionally includes determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, a result of the attempt to grasp the object.
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公开(公告)号：US11752625B2
公开(公告)日：2023-09-12
申请号：US17006274
申请日：2020-08-28
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto
CPC classification number: B25J9/1612 , B25J9/1065 , B25J9/161 , B25J9/1633 , B25J13/082 , B25J15/022 , B25J15/0213 , B25J15/08 , B25J19/023
Abstract: A method is provided that includes controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object. The method also includes receiving, from at least one non-contact sensor on the robotic gripping device, first sensor data indicative of a region between the plurality of digits of the robotic gripping device. The method further includes receiving, from the at least one non-contact sensor on the robotic gripping device, second sensor data indicative of the region between the plurality of digits of the robotic gripping device, where the second sensor data is based on a different sensing modality than the first sensor data. The method additionally includes determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, a result of the attempt to grasp the object.
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9.发明授权公开(公告)号：US11691277B2
公开(公告)日：2023-07-04
申请号：US17379091
申请日：2021-07-19
Applicant: X Development LLC
Inventor： Umashankar Nagarajan , Bianca Homberg
IPC: G05B19/04 , B25J9/16 , G05B19/418
CPC classification number: B25J9/163 , B25J9/1612 , B25J9/1697 , G05B19/41885 , G05B2219/40411 , Y10S901/03 , Y10S901/09 , Y10S901/47
Abstract: Grasping of an object, by an end effector of a robot, based on a grasp strategy that is selected using one or more machine learning models. The grasp strategy utilized for a given grasp is one of a plurality of candidate grasp strategies. Each candidate grasp strategy defines a different group of one or more values that influence performance of a grasp attempt in a manner that is unique relative to the other grasp strategies. For example, value(s) of a grasp strategy can define a grasp direction for grasping the object (e.g., “top”, “side”), a grasp type for grasping the object (e.g., “pinch”, “power”), grasp force applied in grasping the object, pre-grasp manipulations to be performed on the object, and/or post-grasp manipulations to be performed on the object.
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公开(公告)号：US20190337152A1
公开(公告)日：2019-11-07
申请号：US15968922
申请日：2018-05-02
Applicant: X Development LLC
Inventor： Bianca Homberg , Jeffrey Bingham
IPC: B25J9/16
Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.
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