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：US10556630B1

公开(公告)日：2020-02-11

申请号：US15196090

申请日：2016-06-29

Applicant: X Development LLC

Inventor： Jeffrey Bingham ,  Ben Berkowitz ,  Benjamin Holson

IPC: B62D37/00 ,  B62D61/00

Abstract: An example implementation includes a robotic system including a first wheel and a second wheel configured to rotate about a first axis. Each wheel of the first wheel and the second wheel includes a contact surface and a motor coupled to a rotatable component. Each motor is configured to rotate the rotatable component about a respective second axis. The rotatable component is frictionally engaged with the contact surface such that a rotation of the rotatable component about the respective second axis is translated to a rotation of the wheel about the first axis. The robotic system further includes a controller configured to operate the motor of the first wheel and the motor of the second wheel in order to cause the robotic system to maintain its balance and navigate within an environment based on data received from one or more sensors.

公开(公告)号：US20190176326A1

公开(公告)日：2019-06-13

申请号：US15839109

申请日：2017-12-12

Applicant: X Development LLC

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

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/08

Abstract: A method is provided that includes controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object. The method also includes receiving, from at least one non-contact sensor on the robotic gripping device, first sensor data indicative of a region between the plurality of digits of the robotic gripping device. The method further includes receiving, from the at least one non-contact sensor on the robotic gripping device, second sensor data indicative of the region between the plurality of digits of the robotic gripping device, where the second sensor data is based on a different sensing modality than the first sensor data. The method additionally includes determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, a result of the attempt to grasp the object.

公开(公告)号：US10081102B1

公开(公告)日：2018-09-25

申请号：US15171675

申请日：2016-06-02

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Jeffrey Bingham ,  Seth Gilbertson

IPC: F16H55/18 ,  B25J9/10 ,  F16H37/06 ,  F16H57/12 ,  B25J9/12

CPC classification number: B25J9/103 ,  B25J9/126 ,  F16H37/06 ,  F16H55/18 ,  F16H57/12 ,  F16H2057/121 ,  F16H2057/123

Abstract: An example system includes a transmission having a first plurality of gears and an extent of backlash. The system also includes a first motor connected to an input shaft of the transmission and a second motor connected to an output shaft of the transmission through a second plurality of gears. A first gear ratio of a first plurality of gears is greater than a second gear ratio of the second plurality of gears. The system may receive a command to change a direction of rotation of the output shaft from a first direction to a second direction. In response to the received command, the first motor may drive the transmission through a first portion of the extent of backlash deadband. The second motor may drive the transmission through a second portion of the extent of backlash deadband. The second portion may be greater than the first portion.

公开(公告)号：US20220339803A1

公开(公告)日：2022-10-27

申请号：US17857443

申请日：2022-07-05

Applicant: X Development LLC

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

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

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：US11285604B2

公开(公告)日：2022-03-29

申请号：US16725685

申请日：2019-12-23

Applicant: X Development LLC

Inventor： Jeffrey Bingham ,  Jianlan Luo

IPC: B25J9/16

Abstract: Cascading variational autoencoder (“VAE”) models can be used to detect robot collisions while a robot is performing a task. For a current state of the robot, various implementations include a VAE used to generate a latent space of the current state, and a predictor network used to generate a predicted latent space for the current state. A collision can be determined based on a difference between the latent space for the current state and the predicted latent space for the current state.

公开(公告)号：US20210187735A1

公开(公告)日：2021-06-24

申请号：US17193809

申请日：2021-03-05

Applicant: X Development LLC

Inventor： Bianca Homberg ,  Jeffrey Bingham

IPC: B25J9/16

Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.

公开(公告)号：US10987813B1

公开(公告)日：2021-04-27

申请号：US16374342

申请日：2019-04-03

Applicant: X Development LLC

Inventor： Benjamin Holson ,  Jeffrey Bingham ,  Ben Berkowitz

IPC: G06F17/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00

Abstract: Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.

公开(公告)号：US11607802B2

公开(公告)日：2023-03-21

申请号：US16886545

申请日：2020-05-28

Applicant: X Development LLC

Inventor： Seyed Mohammad Khansari Zadeh ,  Daniel Kappler ,  Jianlan Luo ,  Jeffrey Bingham ,  Mrinal Kalakrishnan

IPC: B25J9/16 ,  B25J15/00 ,  G06T7/70 ,  G06K9/00 ,  G06T7/50 ,  G06T7/90 ,  G06V20/10

Abstract: Generating and utilizing action image(s) that represent a candidate pose (e.g., a candidate end effector pose), in determining whether to utilize the candidate pose in performance of a robotic task. The action image(s) and corresponding current image(s) can be processed, using a trained critic network, to generate a value that indicates a probability of success of the robotic task if component(s) of the robot are traversed to the particular pose. When the value satisfies one or more conditions (e.g., satisfies a threshold), the robot can be controlled to cause the component(s) to traverse to the particular pose in performing the robotic task.

公开(公告)号：US10967507B2

公开(公告)日：2021-04-06

申请号：US15968922

申请日：2018-05-02

Applicant: X Development LLC

Inventor： Bianca Homberg ,  Jeffrey Bingham

IPC: B25J9/16

Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.