The Charles Stark Draper Laboratory, Inc.

Dexai Robotics, Inc.

Steven Lines

Syler Wagner

David M S Johnson

Mitchell Hebert

Anthony Tayoun

Justin Rooney

Cody Chu

Connor Lawson

David Ms Johnson

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

Robots, including robot arms, can interface with other modules to affect the world surrounding the robot. However, designing modules from scratch when human analogues exist is not efficient. In an embodiment, a mechanical tool, converted from human use, to be used by robots includes a monolithic adaptor having two interface components. The two interface components include a first interface component cabal be of mating with an actuated mechanism on the robot side, the second interface capable of clamping to an existing utensil. In such a way, utensils that are intended for humans can be adapted for robots and robotic arms.

Adaptor for food-safe, bin-compatible, washable, tool-changer utensils

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

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

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.

Growing community of inventors

Brookline, MA, United States of America

Steven Lines