The Charles Stark Draper Laboratory, Inc.

Dexai Robotics, Inc.

Leland Stanford Junior University

David M S Johnson

Steven Lines

Syler Wagner

Mitchell Hebert

Anthony Tayoun

Richard E Stoner

Cody Chu

Justin Rooney

David L Butts

Luis Trueba

Connor Lawson

Stephen P Smith

Mark A Kasevich

Tom P Thorvaldsen

Robert Kevin Katzschmann

Jennifer T Choy

Jason M Hogan

Nicole Pomeroy

John Harrington

Krish Kotru

Nancy Wu

Jonah Palmer

Justin M Brown

Sheng-wey Chiow

Embodiments provide functionality to prevent collisions between robots and objects. An example embodiment detects a type and a location of an object based on a camera image of the object, where the image has a reference frame. Motion of the object is then predicted based on at least one of: the detected type of the object, the detected location of the object, and a model of object motion. To continue, a motion plan for the robot is generated that avoids having the robot collide with the object based on the predicted motion of the object and a transformation between the reference frame of the image and a reference frame of the robot. The robot can be controlled to move in accordance with the motion plan or a signal can be generated that controls the robot to operate in accordance with the motion plan.

Robot interaction with human co-workers

In an embodiment, a method for handling an order includes determining a plurality of ingredients based on an order, received from a user over a network, for a location having a plurality of robots. The method further includes planning at least one trajectory for at least one robot based on the plurality of ingredients and utensils available at the location, and proximity of each ingredient and utensil to the at least one robot. Each trajectory can be configured to move one of the plurality of ingredients into a container associated with the order. In an embodiment, the method includes executing the at least one trajectory by the at least one robot to fulfill the order. In an embodiment, the method includes moving the container to a pickup area.

One-click robot order

In an embodiment, a method and system use various sensors to determine a shape of a collection of materials (e.g., foodstuffs). A controller can determine a trajectory which achieves the desired end-state, possibly chosen from a set of feasible, collision-free trajectories to execute, and a robot executes that trajectory. The robot, executing that trajectory, scoops, grabs, or otherwise acquires the desired amount of material from the collection of materials at a desired location. The robot then deposits the collected material in the desired receptacle at a specific location and orientation.

Manipulating fracturable and deformable materials using articulated manipulators

In an embodiment, a method includes identifying a force and torque for a robot to accomplish a task and identifying context of a portion of a movement plan indicating motion of the robot to perform the task. Based on the identified force, torque, and context, a context specific torque is determined for at least one aspect of the robot while the robot executes the portion of the movement plan. In turn, a control signal is generated for the at least one aspect of the robot to operate in accordance with the determined context specific torque.

Controlling robot torque and velocity based on context

A problem with current food service robots is making the robots safe to work around food. A solution provided by the present disclosure is a food-safe tool switcher and corresponding tool. The tool switcher can mate with a variety of tools, which can be molded or 3D printed out of food-safe materials into a single-part, instead of constructed modularly. This provides for easier cleaning.

Food-safe, washable interface for exchanging tools

Current technologies allow a robot to acquire a tool only if the tool is in a set known location, such as in a rack. In an embodiment, a method and corresponding system, can determine the previously unknown pose of a tool freely placed in an environment. The method can then calculate a trajectory that allows for a robot to move from its current position to the tool and attach with the tool. In such a way, tools can be located and used by a robot when placed at any location in an environment.

Locating and attaching interchangeable tools in-situ

In an embodiment, a method during execution of a motion plan by a robotic arm includes determining a voice command from speech of a user said during the execution of the motion plan, determining a modification of the motion plan based on the voice command from the speech of the user, and executing the modification of the motion plan by the robotic arm.

User input or voice modification to robot motion plans

A robotic system includes a hub assembly rotatable about a vertical axis. A robotic arm has a first end connected to the hub assembly and an opposite second end connected to an end effector, which is configured for holding an item. The system is configured to support an agent on or above the hub assembly for working on the item held by the end effector. The operation of the robotic arm and end effector to move the item does not obstruct operation of the agent.

Robotic systems and methods for conveyance of items

In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.

Determining how to assemble a meal

Methods and apparatus that provide for inertial sensing. In one example, a method for inertial sensing includes trapping and cooling a cloud of atoms, applying a first beam splitter pulse sequence to the cloud of atoms, applying one or more augmentation pulses to the cloud of atoms subsequent to applying the first beam splitter pulse sequence, applying a mirror sequence to the cloud of atoms, applying a one or more augmentation pulses to the cloud of atoms subsequent to applying the mirror sequence, applying a second beam splitter pulse sequence to the cloud of atoms subsequent to applying the second augmentation pulse, modulating at least one of a phase and an intensity of at least one of the first and the second beam splitter pulse sequences, performing at least one measurement on the cloud of atoms, and generating a control signal based on the at least one measurement.

Atom interferometry in dynamic environments

An inertial measurement apparatus based on atom interferometry. In one example, the inertial measurement apparatus includes a vacuum chamber, first and second atom capture sites housed within the vacuum chamber, each of the first and second atom capture sites being selectively configured to trap and cool first and second atom samples of distinct atom species, an atom interferometry region disposed between the first and second atom capture sites, and first and second atom interferometers operating in the atom interferometry region, the first atom interferometer being configured to generate a first measurement corresponding to a common inertial input based on the first atom sample, and the second atom interferometer being configured to generate a second measurement corresponding to the same common inertial input based on the second atom sample.

Systems and methods for multiple species atom interferometry

Compact inertial measurement systems and methods based on atom interferometry. Certain examples provide a combination atomic accelerometer-gyroscope configured to recapture and cycle atom samples through atom interferometers arranged to allow the next measurement to use the atoms from the previous measurement. Examples of the apparatus provide inertial measurements indicative of rotation for different inertial axes by applying atom interferometry to a plurality of atom samples launched in opposite directions to allow for measurement of both acceleration and rotation rates. In some examples, the inertial measurement apparatus provide a combined atomic gyroscope and an atomic accelerometer in a compact six Degrees of Freedom (6 DOF) IMU.

Ring architecture for sequential operation of an atomic gyroscope

Optical phase modulators are disposed in separate arms of an optical interferometer for forming short optical pulses. The optical phase modulators are driven by signals from an electrical nonlinear transmission line (NLTL). A time delay (typically on the order of the NLTL fall time) is introduced between the NLTL signals in the two arms of the interferometer. With this arrangement, the interferometer provides short optical pulses at its output. In one experiment, 70 ps switching was demonstrated using discrete LiNbOtraveling wave electro-optic modulators and commercially available NLTLs capable of delivering a 35 ps falling edge. A preferable approach is to integrate the NLTLs with the phase modulators, to further improve bandwidth. This fast switch can be used for various applications, such as implementing an Optical Time Division Multiplexing (OTDM) network architecture, and providing arbitrary waveform generation (AWG) capability.

Growing community of inventors

Cambridge, MA, United States of America

David M S Johnson