X Development LLC

Autofuss

Google Inc.

Intrinsic Innovation LLC

X Development Llx

Jeff Linnell

Brandon Kruysman

Anthony Sean Jules

Jonathan Proto

Kendra Byrne

Marek Piotr Michalowski

Eli Reekmans

Matthew A Bitterman

Michael Kolb

Tobias Kinnebrew

Steven Moody

Michael Beardsworth

Johan Jessen

Asa Hammond

In one aspect, a method is described. The method may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.

Multi-resolution localization system

Described herein are three-dimensional (3D) printer systems and methods, which may provide for 'continuous pull' 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

Continuous pull three-dimensional printing

A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

Error accrual and mitigation during robotic process

Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

Guide placement by a robotic device

A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Customized robotic installation based on measurements collected on site

Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

Tooltip stabilization

The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

Parametric generation of interlocking joints

A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

System and method for 3D projection mapping with robotically controlled objects

Example methods and systems are disclosed for on-demand packaging of one or more items. According to one example, a method can include receiving an order for the item(s) and determining characteristic-information for the item(s) using a computer system. The characteristic-information includes an indication of at least a size and a shape of the item(s). The method also includes processing the characteristic-information based on design criteria to determine an arrangement of the item(s) within at least one container volume, and a configuration for a protective structure to hold the item(s) in the arrangement within the container volume(s). The method can further include, in response to the processing the characteristic-information, forming the protective structure according to the configuration, placing the item(s) into the protective structure according to the arrangement, and placing the protective structure and the item(s) in the container volume(s).

On-demand protective structures for packaging items in a container

Example implementations may relate to interactive object fabrication. In particular, a control system may receive model data defining a 3D shape of a physical object that is fabricable out of a substrate at a work site. The system may then direct a projection system to emit onto the substrate a projection illustrative of the 3D shape defined by the model data. Also, the system may transmit, to a robotic system, fabrication instructions that direct the robotic system to fabricate the physical object in accordance with the model data. subsequently, during fabrication of the physical object, the system may (i) receive progress data indicative of a portion of the physical object that has been fabricated from the substrate, and (ii) direct the projection system to update the projection of the 3D shape to remove a portion of the projection corresponding to the portion of the physical object that has been fabricated.

Growing community of inventors

Woodside, CA, United States of America

Jeff Linnell