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公开(公告)号：US09695912B2
公开(公告)日：2017-07-04
申请号：US15191810
申请日：2016-06-24
Applicant: X Development LLC
Inventor： Aaron Edsinger , Andy Metzger
CPC classification number: F16H1/32 , F16H1/34 , F16H2001/323 , F16H2001/325 , F16H2057/125
Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.
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公开(公告)号：US10330182B2
公开(公告)日：2019-06-25
申请号：US15341475
申请日：2016-11-02
Applicant: X Development LLC
Inventor： Aaron Edsinger , Philip Mullins
Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.
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公开(公告)号：US10189158B2
公开(公告)日：2019-01-29
申请号：US15243034
申请日：2016-08-22
Applicant: X Development LLC
Inventor： Aaron Edsinger , Lee Magnusson , Philip Mullins , Jeff Weber
Abstract: An example torque controlled actuator includes a frame, and one or more timing belt stages coupled in serial on the frame. The timing belt stages include an input stage for coupling to a motor and an output stage for coupling to a load, and the timing belt stages couple rotation of the motor to rotation of an output of the output stage. The torque controlled actuator also includes one or more belt idlers coupled to the frame that contact a timing belt of the output stage, and a strain gauge coupled to the frame to determine a tension of the timing belt of the output stage based on force applied by the timing belt of the output stage to the one or more belt idlers.
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公开(公告)号：US10052763B1
公开(公告)日：2018-08-21
申请号：US15372126
申请日：2016-12-07
Applicant: X Development LLC
Inventor： Stefan Nusser , Aaron Edsinger , Advait Jain , Anthony Jules
IPC: G05B19/04 , B25J9/16 , G05B19/042 , B25J9/08
CPC classification number: B25J9/1661 , B25J9/08 , B25J9/1692 , G05B19/0421 , G05B2219/40113
Abstract: A system is provided, including one or more servers in communication with a robotic system. The one or more servers may be configured to receive operational data from the robotic system, and determine one or more operational performance metrics based on the received operational data. The system may also include a first computing device in communication with the robotic system including a workstation authoring software application configured to program the given task to be completed by the robotic system, and determine one or more subtasks required for the robotic system to perform the given task. The system may also include a second computing device in communication with the robotic system including an operational dashboard software application configured to control various operations of the robotic system, and provide for display a visual representation of the operational data and the operational performance metrics on an interface of the second computing device.
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公开(公告)号：US09506825B1
公开(公告)日：2016-11-29
申请号：US14957264
申请日：2015-12-02
Applicant: X Development LLC
Inventor： Justine Rembisz , Aaron Edsinger
CPC classification number: G01L3/14 , B65G43/02 , F16C41/007 , F16H7/02 , F16H7/023 , G01B7/18 , G01L3/02 , G01L5/105 , G01M13/023 , G01N3/56 , G01P3/443
Abstract: In examples, methods and systems for sensing tension in a timing belt are provided. In one example, a transmission device is provided that comprises a timing belt transmission configured to cause rotation of an output hub, and the timing belt transmission includes a timing belt with markings. The transmission device also includes a detector for detecting the markings on the timing belt as the timing belt is placed under a tension due to a load at the output hub, and a distance between the markings on the timing belt changes as the timing belt is placed under the tension. The transmission device also includes one or more processors for determining output torque of the timing belt transmission based on the distance between the markings on the timing belt or based on a time between detected markings.
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Patent Agency Ranking
公开(公告)号：US10245726B1
公开(公告)日：2019-04-02
申请号：US15242754
申请日：2016-08-22
Applicant: X Development LLC
Inventor： Advait Jain , Anthony Jules , Aaron Edsinger
IPC: B25J9/16 , G05B19/418
Abstract: A method operable by a computing device is provided. The method may include receiving a request for a given task to be performed by a robotic system. The method may also determining one or more subtasks required to perform the given task, where the one or more subtasks include one or more parameters used to define the one or more subtasks. The method may also include determining an arrangement of the one or more subtasks to perform the given task, and providing for display an indication of the one or more undefined parameters for the given task. The method may also include receiving an input defining the one or more undefined parameters for the given task, and executing the one or more subtasks in the determined arrangement and in accordance with the one or more defined parameters to cause the robotic system to perform the given task.
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公开(公告)号：US09744678B2
公开(公告)日：2017-08-29
申请号：US15165160
申请日：2016-05-26
Applicant: X Development LLC
Inventor： Aaron Edsinger
CPC classification number: B25J19/06 , B25J13/08 , Y10S901/02
Abstract: Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.
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公开(公告)号：US10853646B1
公开(公告)日：2020-12-01
申请号：US16453145
申请日：2019-06-26
Applicant: X Development LLC
Inventor： Adrian Li , Nicolas Hudson , Aaron Edsinger
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating spatial affordances for an object, in an environment of a robot, and utilizing the generated spatial affordances in one or more robotics applications directed to the object. Various implementations relate to applying vision data as input to a trained machine learning model, processing the vision data using the trained machine learning model to generate output defining one or more spatial affordances for an object captured by the vision data, and controlling one or more actuators of a robot based on the generated output. Various implementations additionally or alternatively relate to training such a machine learning model.
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公开(公告)号：US10354139B1
公开(公告)日：2019-07-16
申请号：US15724067
申请日：2017-10-03
Applicant: X Development LLC
Inventor： Adrian Li , Nicolas Hudson , Aaron Edsinger
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating spatial affordances for an object, in an environment of a robot, and utilizing the generated spatial affordances in one or more robotics applications directed to the object. Various implementations relate to applying vision data as input to a trained machine learning model, processing the vision data using the trained machine learning model to generate output defining one or more spatial affordances for an object captured by the vision data, and controlling one or more actuators of a robot based on the generated output. Various implementations additionally or alternatively relate to training such a machine learning model.
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公开(公告)号：US10275543B1
公开(公告)日：2019-04-30
申请号：US14558913
申请日：2014-12-03
Applicant: X Development LLC
Inventor： Aaron Edsinger
IPC: G06F17/50 , H04L29/08 , G05B19/4099
Abstract: Example implementations described herein may provide a pipeline from a model of a given object to a model of one or more fingertips that are specialized to grasp the given object. An example system may receive a three-dimensional geometric model of a given object. The system may also iterate over a plurality of fingertip geometries to determine a particular fingertip geometry that is compliant to a shape of the given object at a grasp point on the given object. The system may further iterate the particular fingertip geometry over a plurality of fingertip sizes to determine a particular fingertip size that is compliant to one or more dimensions of the given object at the grasp point of the given object; and the system may provide a model of one or more fingertips having the particular fingertip geometry and the particular fingertip size.
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