公开(公告)号：US11407125B2

公开(公告)日：2022-08-09

申请号：US16867720

申请日：2020-05-06

Applicant: X Development LLC

Inventor： Jeffrey Bingham ,  Taylor Alexander ,  Bianca Homberg ,  Joseph DelPreto ,  Alex Shafer

IPC: B25J15/12 ,  B25J19/02 ,  B25J9/10 ,  B25J15/00 ,  B25J13/08 ,  B25J15/02

Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.

公开(公告)号：US11331799B1

公开(公告)日：2022-05-17

申请号：US16886583

申请日：2020-05-28

Applicant: X Development LLC

Inventor： Alex Shafer

IPC: B25J9/16 ,  B25J15/00

Abstract: Grasping of an object, by an end effector of a robot, based on a final grasp pose, of the end effector, that is determined after the end effector has been traversed to a pre-grasp pose. An end effector vision component can be utilized to capture instance(s) of end effector vision data after the end effector has been traversed to the pre-grasp pose, and the final grasp pose can be determined based on the end effector vision data. For example, the final grasp pose can be determined based on selecting instance(s) of pre-stored visual features(s) that satisfy similarity condition(s) relative to current visual features of the instance(s) of end effector vision data, and determining the final grasp pose based on pre-stored grasp criteria stored in association with the selected instance(s) of pre-stored visual feature(s).

公开(公告)号：US10926402B2

公开(公告)日：2021-02-23

申请号：US15851606

申请日：2017-12-21

Applicant: X Development LLC

Inventor： Alex Shafer ,  Bruce Schena ,  Mitchell Barham

IPC: B25J9/04 ,  B25J9/10 ,  B25J9/12 ,  F16H1/28 ,  F16D13/52

Abstract: A robotic arm system is provided. The system includes a one or more roll and/or angle actuators driven by a unidirectional drive. One or more clutches allow the actuators to engage and disengage with a drive shaft or a reverser assembly or angle drive coupled to the drive shaft, thereby permitting changes in rotational direction for the actuators without a change in the rotational direction of the drive.

公开(公告)号：US20200262089A1

公开(公告)日：2020-08-20

申请号：US16867720

申请日：2020-05-06

Applicant: X Development LLC

Inventor： Jeffrey Bingham ,  Taylor Alexander ,  Bianca Homberg ,  Joseph DelPreto ,  Alex Shafer

IPC: B25J19/02 ,  B25J15/12 ,  B25J13/08 ,  B25J15/02 ,  B25J15/00 ,  B25J9/10

Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.

公开(公告)号：US10682774B2

公开(公告)日：2020-06-16

申请号：US15839045

申请日：2017-12-12

Applicant: X Development LLC

Inventor： Jeffrey Bingham ,  Taylor Alexander ,  Bianca Homberg ,  Joseph DelPreto ,  Alex Shafer

IPC: B25J15/12 ,  B25J19/02 ,  B25J9/10 ,  B25J15/00 ,  B25J13/08 ,  B25J15/02

Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.

公开(公告)号：US20190234819A1

公开(公告)日：2019-08-01

申请号：US16382661

申请日：2019-04-12

Applicant: X Development LLC

Inventor： Alex Shafer ,  Adam Reich ,  Emily Cooper

IPC: G01L5/16 ,  G01J1/04 ,  G01B11/14 ,  G01J1/42

CPC classification number: G01L5/16 ,  B25J13/085 ,  G01B11/026 ,  G01B11/14 ,  G01B11/26 ,  G01D5/30 ,  G01J1/04 ,  G01J1/4228 ,  G01L1/24 ,  G01L3/08 ,  G01L5/0038 ,  G01L5/0042 ,  G01L5/009 ,  G01L5/166

Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.