Mujin, Inc.

Puttichai Lertkultanon

Rosen Nikolaev Diankov

Xutao Ye

Russell Islam

Yoshiki Kanemoto

Hironori Mizoguchi

Hamdi Sahloul

A system and method for operating a transfer robot to grasp and transfer objects is disclosed. The transport robot includes a robotic gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum to grasp a target object. The gripper assembly can be configured and/or operated according to one or more physical characteristics of targeted objects and/or corresponding scenarios.

Robotic gripper assemblies for openable object(s) and methods for picking objects

A method and computing system for transferring objects between a source repository and a destination repository is provided. The computing system is configured to operate by a combination of pre-planned and image base trajectories to improve speed and reliability of object transfer. The computing system is configured to capture image information of repositories and use the captured information to alter or adjust pre-planned trajectories to improve performance.

Method and computing system for performing robot motion planning and repository detection

A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Method and computing system for performing motion planning based on image information generated by a camera

A method and computing system for performing object detection are presented. The computing system may be configured to: receive first image information that represents at least a first portion of an object structure of an object in a camera's field of view, wherein the first image information is associate with a first camera pose; generate or update, based on the first image information, sensed structure information representing the object structure; identify an object corner associated with the object structure; cause the robot arm to move the camera to a second camera pose in which the camera is pointed at the object corner; receive second image information associated with the second camera pose; update the sensed structure information based on the second image information; determine, based on the updated sensed structure information, an object type associated with the object; determine one or more robot interaction locations based on the object type.

Method and computing system for performing object detection or robot interaction planning based on image information generated by a camera

A method and system for determining poses for camera calibration is presented. The system determines a range of pattern orientations for performing the camera calibration, and determines a surface region on a surface of an imaginary sphere, which represents possible pattern orientations for the calibration pattern. The system determines a plurality of poses for the calibration pattern to adopt. The plurality of poses may be defined by respective combinations of a plurality of respective locations within the camera field of view and a plurality of respective sets of pose angle values. Each set of pose angle values of the plurality of respective sets may be based on a respective surface point selected from within the surface region on the surface of the imaginary sphere. The system outputs a plurality of robot movement commands based on the plurality of poses that are determined.

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Tokyo, Japan

Puttichai Lertkultanon