Abstract: A system and method for operating a robotic system to use two or more tools to manipulate objects. The robotic system may coordinate planning processes and/or plan implementations based on grouping the objects.

Abstract: A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

Abstract: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.

Abstract: A system and method for operating a transport robot to simultaneously grasp and transfer multiple objects is disclosed. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. The robotic system receives image data representative of a group of objects. Individual target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified target objects. The transport robot is command to cause the selected addressable vacuum regions to simultaneously grasp and transfer multiple target objects.

Abstract: A method for operating a robotic system includes determining a discretized object model based on source sensor data; comparing the discretized object model to a packing plan or to master data; determining a discretized platform model based on destination sensor data; determining height measures based on the destination sensor data; comparing the discretized platform model and/or the height measures to an expected platform model and/or expected height measures; and determining one or more errors by (i) determining at least one source matching error by identifying one or more disparities between (a) the discretized object model and (b) the packing plan or the master data or (ii) determining at least one destination matching error by identifying one or more disparities between (a) the discretized platform model or the height measures and (b) the expected platform model or the expected height measures, respectively.

Abstract: A system and method of operation of a robotic system including: receiving a sensor reading associated with a target object; generating a base plan for performing a task on the target object, wherein generating the base plan includes determining a grip point and one or more grip patterns associated with the grip point for gripping the target object based on a location of the grip point relative to a designated area, a task location, and another target object; implementing the base plan for performing the task by operating an actuation unit and one or more suction grippers according to a grip pattern rank, to generate an established grip on the target object, wherein the established grip is at a grip pattern location associated with the grip patterns; measuring the established grip; comparing the established grip to a force threshold; and re-gripping the target object based on the established grip falling below the force threshold.

Abstract: The present disclosure provides a control method of a robotic system. The control method includes: deriving an approach location at which the end effector grips an operation object; deriving a scan location for scanning an identifier of the operation object; and based on the approach location and the scan location, creating or deriving a control sequence to instruct the robot to execute the control sequence. The control sequence includes (1) gripping the operation object from a start location; (2) scanning an identifier of the operation object with a scanner located between the start location and a task location; (3) temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied; and (4) moving the operation object to the task location.

Abstract: A system and method for operating a robotic system to register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object to derive an initial minimum viable region (MVR). The robotic system may analyze second image data representative of the unrecognized object to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.

Abstract: A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.

Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

Abstract: A robot system controller and control method that implement sophisticated cooperation among units is provided. The controller may include: a data acquisition unit adapted to acquire first data including information about the handling object and the shelf before storing or retrieving the handling object in/from the shelf; a data storage unit; and a robot control unit adapted to select and transport the shelf to an access position before storing or retrieving the handling object in/from the shelf, create or acquire a control sequence for storing or retrieving the handling object in/from the shelf, instruct the transport robot to execute a task of transporting the shelf to the access position, and instruct the handling robot to execute a task of storing or retrieving the handling object in/from the shelf.

Abstract: A method for operating a transport robot includes receiving image data representative of a group of objects. One or more target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified one or more target objects. The transport robot is command to cause the selected addressable vacuum regions to hold and transport the identified one or more target objects. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. A vision sensor device can capture the image data, which is representative of the target objects adjacent to or held by the multi-gripper assembly.

Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

Abstract: A method and computing system for performing object detection are presented. The computing system may be configured to: receive first image information that represents at least a first portion of an object structure of an object in a camera's field of view, wherein the first image information is associate with a first camera pose; generate or update, based on the first image information, sensed structure information representing the object structure; identify an object corner associated with the object structure; cause the robot arm to move the camera to a second camera pose in which the camera is pointed at the object corner; receive second image information associated with the second camera pose; update the sensed structure information based on the second image information; determine, based on the updated sensed structure information, an object type associated with the object; determine one or more robot interaction locations based on the object type.

Abstract: The present disclosure relates to methods and systems for generating a verified minimum viable range (MVR) of an object. An exposed outer corner and exposed edges of an object may be identified by processing one or more image data. An initial MVR may be generated by identifying opposing parallel edges opposing the exposed edges. The initial MVR may be adjusted, and the adjusted result may be tested to generate a verified MVR.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

Abstract: A system and method for operating a robotic system to register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object to derive an initial minimum viable region (MVR). The robotic system may analyze second image data representative of the unrecognized object to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.

Abstract: A method for operating a robotic system includes determining a discretized object model based on source sensor data; comparing the discretized object model to a packing plan or to master data; determining a discretized platform model based on destination sensor data; determining height measures based on the destination sensor data; comparing the discretized platform model and/or the height measures to an expected platform model and/or expected height measures; and determining one or more errors by (i) determining at least one source matching error by identifying one or more disparities between (a) the discretized object model and (b) the packing plan or the master data or (ii) determining at least one destination matching error by identifying one or more disparities between (a) the discretized platform model or the height measures and (b) the expected platform model or the expected height measures, respectively.