Abstract: A method for estimating a ground plane of a legged robot includes determining one or more physical contact points of the legged robot based on first sensor information of the legged robot, determining one or more virtual contact points of the legged robot based on second sensor information of the legged robot, determining a ground plane estimation of the ground surface based on both the one or more physical contact points and the one or more virtual contact points, and controlling a pose of the legged robot based on the ground plane estimation.

Abstract: An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.

Abstract: An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body includes at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.

Abstract: An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.

Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A solar cell module is constructed of a plurality of photovoltaic cells that are supported on a support surface of a support structure with the cells positioned side-by-side. The side-by-side arrangements of the cells form a first photovoltaic layer with a first exterior surface and a second photovoltaic layer with a second exterior surface. The first exterior surface and the second exterior surface extend outwardly from the support surface and oppose each other with a void between the exterior surfaces. The void enables photons from sunlight to enter into the void and reflect between the first exterior surface and the second exterior surface producing energy from the plurality of photovoltaic cells.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.

Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.

Abstract: An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, said body providing an open interior through which a vacuum may be provided to the contact portion, and the body includes at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.

Abstract: An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.

Abstract: An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.

Abstract: An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface is at least partially defining an aperture, and the body includes a flexible portion that permits at least a portion of the contact surface to be drawn at least partially into the open interior of the body when a flow of air drawn by the vacuum source through the aperture is reduced due to the aperture being at least partially blocked.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.