公开(公告)号：WO2023059782A1

公开(公告)日：2023-04-13

申请号：PCT/US2022/045868

申请日：2022-10-06

Applicant: DEXTERITY, INC.

Inventor： KIM, Justin Sunjoon ,  LOVETT, Andrew ,  ARVAYO, Alberto Leyva ,  KUMAR, Shitij ,  NADER, Cyril ,  GAO, Yuan

IPC: B25J9/16 ,  B65G61/00 ,  B65G69/22 ,  B25J13/06 ,  B25J13/089 ,  B25J19/04 ,  B25J5/02 ,  B25J9/0084 ,  B25J9/0096 ,  B25J9/163 ,  B25J9/1664 ,  B25J9/1697

Abstract: A task table for use in a robotic system comprising a robot mounted on a carriage configured to move the robot along a path is disclosed. The task table includes a substantially horizontal table surface, and one or more mounting arms to which the table surface is affixed at a first distal end and comprising, at a second distal end opposite the first distal end, one or more mounting structures, the one or more mounting arms having a length that allows the table surface to be mounted to the robot or the carriage at a distance from a base of the robot that enables the robot to reach a plurality of locations on the table surface each with a desired pose.

公开(公告)号：WO2022221089A2

公开(公告)日：2022-10-20

申请号：PCT/US2022/023358

申请日：2022-04-04

Applicant: DEXTERITY, INC.

Inventor： ARVAYO, Alberto Leyva ,  NADER, Cyril ,  NAYAK, Varun Uday ,  LOVETT, Andrew ,  KUMAR, Shitij

IPC: B25J13/08 ,  B25J19/02 ,  B25J15/00 ,  B65G61/00 ,  B25J13/00 ,  B25J15/08 ,  B25J15/0028 ,  B25J15/0033 ,  B25J15/024

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.

公开(公告)号：WO2022216394A1

公开(公告)日：2022-10-13

申请号：PCT/US2022/019149

申请日：2022-03-07

Applicant: DEXTERITY, INC.

Inventor： CEDARLEAF-PAVY, Jordan ,  POTEET, Austen ,  RYAN, Timothy ,  TONDREAU III, David Leo ,  KELL, Adam ,  SHAH, Harshit

IPC: B07C1/04 ,  B25J9/00 ,  B65B5/08 ,  B65B35/30 ,  B65G47/26 ,  G05B19/418

Abstract: A robotic system is disclosed. The system includes a communication interface, and one or more processors coupled to the communication interface and configured to: receive, via the communication interface, data associated with a plurality of items within a workspace, determine to control a flow of items on a chute based at least in part on the data associated with the plurality of items within the workspace, and in response to determining to control the flow of items, implement to control the flow of items at least by controlling a flow disrupter move in a manner that causes the flow of items to change, wherein the flow disrupter is flush with the chute when the flow disrupter is not deployed to impede the flow of items.

公开(公告)号：WO2021080678A1

公开(公告)日：2021-04-29

申请号：PCT/US2020/047513

申请日：2020-08-21

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  CHAVES, Kevin Jose ,  MENON, Samir ,  SU, Harry Zhe ,  MORRIS-DOWNING, Talbot ,  PIDAPARTHI, Rohit Arka ,  SHARMA, Ayush ,  WIRTH, Raphael Georg

IPC: B25J9/16

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. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is 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.

公开(公告)号：WO2020172579A1

公开(公告)日：2020-08-27

申请号：PCT/US2020/019300

申请日：2020-02-21

Applicant: DEXTERITY, INC.

Inventor： CHAVEZ, Kevin Jose ,  HEGDAHL, Robert ,  GAO, Yuan ,  LOVETT, Andrew ,  HAU, Roger Lam ,  MENON, Samir

IPC: B25J15/06 ,  G05B19/418 ,  B65B57/00 ,  B65G47/91

Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

公开(公告)号：WO2022265933A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033048

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij ,  MORENO, Robert ,  BELADIYA, Arth ,  PEREZ, Salvador ,  BAEK, Jeesu

IPC: B65G57/00 ,  B25J9/16 ,  G05B19/418 ,  B65G47/00

Abstract: A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

公开(公告)号：WO2022265931A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033044

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G57/00 ,  B25J9/16 ,  G05B19/418 ,  B65G47/00

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.

公开(公告)号：WO2022265929A1

公开(公告)日：2022-12-22

申请号：PCT/US2022/033041

申请日：2022-06-10

Applicant: DEXTERITY, INC.

Inventor： PIDAPARTHI, Rohit Arka ,  CLARY, William Arthur ,  ABHYANKAR, Neeraja ,  KUCK, Jonathan ,  POTTAYIL, Ben Varkey Benjamin ,  CHAVEZ, Kevin Jose ,  KUMAR, Shitij

IPC: B65G61/00 ,  B25J9/16 ,  B25J13/08 ,  B65G47/90 ,  B65G47/91 ,  G06T1/00 ,  B25J9/1661 ,  B25J9/1671 ,  B25J9/1697

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.

公开(公告)号：WO2021080744A1

公开(公告)日：2021-04-29

申请号：PCT/US2020/053073

申请日：2020-09-28

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  CLARY, William, Arthur ,  CHAVEZ, Kevin, Jose ,  POTTAYIL, Ben, Varkey Benjamin ,  PIDAPARTHI, Rohit, Arka ,  HAU, Roger, Lam ,  MENON, Samir

IPC: G06G7/48

Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.

公开(公告)号：WO2021080730A1

公开(公告)日：2021-04-29

申请号：PCT/US2020/052660

申请日：2020-09-25

Applicant: DEXTERITY, INC.

Inventor： SU, Harry, Zhe ,  SUN, Zhouwen ,  MENON, Samir

IPC: B25J9/00 ,  B25J9/10 ,  B25J13/00 ,  B25J13/08 ,  B25J15/00 ,  B25J19/00 ,  B25J19/02

Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.