Dexterity, Inc.

Zhouwen Sun

Samir Menon

Kevin Jose Chavez

Harry Zhe Su

Talbot Morris-Downing

Robert Holmberg

Rohit Arka Pidaparthi

Ayush Sharma

Raphael Georg Wirth

Andrew Lovett

David Leo Tondreau, Iii

Robert Hegdahl

Cyril Nader

Cuthbert Sun

Gerald Brantner

Toby Leonard Baker

Andrew Nguyen

Shitij Kumar

Ben Varkey Benjamin Pottayil

Jeesu Baek

Samuel Tay

Emilie Peck

Farshid Farhat

Joseph Li

Kishore Ranganath Ramakrishnan

Timothy Andrew Ryan

Alberto Leyva Arvayo

Matthew Rodolfo Molina

Derek Pan

William Arthur Clary

Roger Lam Hau

Ivan Alberto Trujillo Priego

Rohun Kulkarni

Michael Fisher

Varun Uday Nayak

Timothy Ryan

Michael Root

David Turney

Ben Varkey Pottayil

Kevin Chavez

A kitting system is disclosed. In various embodiments, the kitting system includes a conveyance structure configured to impart to an item a first net resultant force substantially in a first direction, wherein the first direction is associated with a direction of flow from a source end of the conveyance structure to a destination end opposite the source end and associated with a pick-up zone from which the item is to be retrieved; a sensor configured to provide a sensor output associated with the pick-up zone; and a processor configured to provide a control input to one or both of the conveyance structure and a disrupter device associated with the conveyance structure based at least in part on the sensor output.

Robotic kitting system

A robot is operated in an autonomous mode of operation to perform a plurality of tasks. It is determined that a later task of the plurality of tasks needs human assistance while performing a current task of the plurality of tasks. The human assistance is scheduled for the later task. A teleoperator is communicated with to perform the human assistance associated with the later task.

Autonomous robot with on demand teleoperation

An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.

Suction-based end effector with mixed cup sizes

A robotic system is disclosed comprising a communication interface and a processor coupled to the communication interface and configured to: receive via the communication interface an indication to establish a conveyance path to convey one or more items from a source location at an originating end of the conveyance path to a destination location at a terminating end of the conveyance path; determine programmatically a plan to arrange and configured one or more conveyance structures to provide the conveyance path; and invoke one or more robots to position, couple as needed, and configure as needed the one or more conveyance structures to provide the conveyance path.

Interoperable robotic system to load/unload trucks and other containers

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.

Detecting slippage from robotic grasp

The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

Robot with linear 7th axis

A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.

Robotic system for identifying items

A robotic singulation system is disclosed. In various embodiments, sensor data including data associated with an item present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.

Adaptive robotic singulation system

A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.

Autonomous unknown object pick and place

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.

Robotic system simulation engine

A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval.

Kitting machine

Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.

Robotic system with zone-based control

A robotic system comprising an end effector-mounted sensor is disclosed. In various embodiments, a robotic arm is manipulated to move a sensor to a position such that an object of interest is within a read range of the sensor. A sensor data read by the sensor is received via a communication interface. The sensor data is used to determine an attribute of the object; and the determined attribute of the object is used to determine a plan to grasp and move the object.

Robotic singulation system sensor

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

Robotic kitting machine

A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)degree of freedom provided by the enabler joint assembly.

Growing community of inventors

Redwood City, CA, United States of America

Zhouwen Sun