公开(公告)号：USD912115S1

公开(公告)日：2021-03-02

申请号：US29705871

申请日：2019-09-16

Applicant: X Development LLC

Designer： Justine Rembisz ,  Matthew Day ,  Vincent Nabat ,  Ben Berkowitz ,  Joshua Seal

公开(公告)号：US10894321B1

公开(公告)日：2021-01-19

申请号：US16700326

申请日：2019-12-02

Applicant: X Development LLC

Inventor： Vincent Yves Michel Nabat ,  Philip Mullins ,  Justine Rembisz

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  B25J5/00 ,  B25J13/08

Abstract: Methods, systems, and apparatus, including an apparatus that includes a motorized base configured to move the apparatus; an upper portion coupled to the motorized base; one or more load-sensing devices located between the motorized base and the upper portion, the one or more load-sensing devices being configured to (i) detect forces between the upper portion and the motorized base, and (ii) provide force information based on the detected forces between different portions of the upper portion and the motorized base; and one or more processors performs operations of: obtaining the force information provided by the one or more load-sensing devices; determining a difference between the forces indicated by the force information from the one or more load-sensing devices; determining, based the difference in the forces, a movement to be performed by the apparatus; and providing control information to cause the motorized base to perform the determined movement.

公开(公告)号：US09889562B1

公开(公告)日：2018-02-13

申请号：US14885292

申请日：2015-10-16

Applicant: X Development LLC

Inventor： Justine Rembisz

IPC: B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  B25J19/00 ,  B25J19/02

CPC classification number: B25J9/1638 ,  B25J5/007 ,  B25J13/088 ,  B25J19/0008 ,  G05B2219/40298 ,  Y10S901/01

Abstract: An example system includes a robotic arm coupled to a mobile base. The robotic arm includes a plurality of segments coupled via at least one joint, which includes at least one joint angle sensor. The system also includes a controller configured to carry out operations including receiving, from the at least one joint angle sensor, information indicative of a pose of the robotic arm. The operations include, based on the information indicative of the pose of the robotic arm, determining that a torque induced by the robotic arm is above a predetermined torque threshold. The operations also include causing an adjustable support member to extend out of the mobile base in an orientation that counteracts the torque.

公开(公告)号：US11607804B2

公开(公告)日：2023-03-21

申请号：US16528141

申请日：2019-07-31

Applicant: X Development LLC

Inventor： Justine Rembisz ,  John Tran ,  Vincent Nabat ,  Elmar Mair

IPC: G01S17/931 ,  B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J17/00 ,  B25J17/02 ,  B25J13/08 ,  B25J19/02 ,  G01S7/481 ,  G01S7/4865 ,  B25J9/04

Abstract: A mobile robotic device includes a mobile base and a mast fixed relative to the mobile base. The mast includes a carved-out portion. The mobile robotic device further includes a three-dimensional (3D) lidar sensor mounted in the carved-out portion of the mast and fixed relative to the mast such that a vertical field of view of the 3D lidar sensor is angled downward toward an are in front of the mobile robotic device.

公开(公告)号：US11597104B2

公开(公告)日：2023-03-07

申请号：US16528123

申请日：2019-07-31

Applicant: X Development LLC

Inventor： Justine Rembisz ,  Alex Shafer

IPC: G06F17/00 ,  B25J19/02 ,  G01S17/931 ,  B25J13/08 ,  G01S7/4865

Abstract: A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.

公开(公告)号：US20220341906A1

公开(公告)日：2022-10-27

申请号：US17240232

申请日：2021-04-26

Applicant: X Development LLC

Inventor： Daniel Lam ,  Justine Rembisz ,  Asa Weiss ,  Benjamin Holson

IPC: G01N33/00 ,  G05D1/02 ,  G01K3/14

Abstract: A method includes receiving data collected by at least one sensor on a robotic device, wherein the data is to be used for an ambient environment state representation, and wherein the data represents ambient environment measurements collected at locations of the at least one sensor when the robotic device is passively monitoring an environment such that robotic device navigation is not based on the ambient environment state representation. The method further includes determining the ambient environment state representation using the data collected by the at least one sensor on the robotic device. The method also includes identifying, based on the ambient environment state representation, one or more anomalous ambient environment measurements. The method additionally includes causing, based on the one or more identified anomalous ambient environment measurements, the robotic device to actively monitor the environment such that robotic device navigation is based on the ambient environment state representation.

公开(公告)号：US11426885B1

公开(公告)日：2022-08-30

申请号：US16553114

申请日：2019-08-27

Applicant: X Development LLC

Inventor： Justine Rembisz ,  James Lubin ,  Vincent Nabat ,  Elmar Mair

IPC: G01C21/00 ,  B25J19/00 ,  B25J5/00 ,  B25J9/16 ,  B60L58/12 ,  G05D1/02 ,  G01C21/20 ,  B60L53/36

Abstract: A docking station is provided that includes at least one component configured to couple to a robot and an identification surface. The identification surface includes a first curvature that varies at a first substantially constant rate of change along a first dimension the identification includes a second curvature that varies at a second substantially constant rate of change along a second dimension. The second dimension is orthogonal to the first dimension. The identification surface includes a third curvature that varies at a third substantially constant rate of change along a third dimension. The third dimension is orthogonal to the first dimension and the second dimension.

公开(公告)号：US09809056B1

公开(公告)日：2017-11-07

申请号：US14952970

申请日：2015-11-26

Applicant: X Development LLC

Inventor： Justine Rembisz ,  Christopher Lynn Morey

IPC: B60B19/00 ,  B60B19/12 ,  B60B19/14

CPC classification number: B60B19/003 ,  B60B19/12 ,  B60B19/14 ,  B60B37/10 ,  B60Y2200/60

Abstract: Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.