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: Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a frame and an actuator system coupled to the frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component each coupled to the frame. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and/or third clamping components to move the first, second, and/or third clamping components along a transverse axis of the end-of-arm tool.

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 robotic system for arranging packages at a destination according to a stacking sequence. The robotic system uses a storage area for temporarily storing packages that arrive out-of-sequence until they are next-in-sequence for placement at the destination. The robotic system processes an incoming package, determines if it is next-in-sequence for placement at the destination, and if it is, places the package at the destination. On the other hand, if it is not next-in-sequence for placement at the destination, it stores the package in the storage area. A package in the storage area is transferred to the destination when it is next-in-sequence for placement at the destination. By using the temporary storage for storing out of sequence packages, the robotic system eliminates the need for receiving the packages in a stacking sequence, which also eliminates the need for sequencing machines.

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 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 system and method for operating a robotic system to place objects into containers that have support walls is disclosed. The robotic system may detect an unexpected condition associated with a container during or before a real-time operation. Accordingly, the robotic system may dynamically adjust an existing packing plan based on detecting the unexpected condition.

Abstract: The present disclosure relates to operation of a robotic system to transfer an object from a source to a destination. The robotic system may implement one or more motion plans or portions thereof to operate a picking robot to grip and lift the object and place a transfer tray under the lifted object. The robotic system may further implement the one or more motion plans or portions thereof to place the object on the transfer tray and laterally displace the transfer tray and the object thereon toward the destination. The robotic system may operate a placement mechanism to transfer the object from the transfer tray to the destination.

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 processing overlapped flexible objects is disclosed.

Abstract: A system and method for operating a transfer robot to grasp and transfer objects is disclosed. The transport robot includes a robotic gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum to grasp a target object. The gripper assembly can be configured and/or operated according to one or more physical characteristics of targeted objects and/or corresponding scenarios.

Abstract: A robotic system for arranging packages at a destination according to a stacking sequence. The robotic system uses a storage area for temporarily storing packages that arrive out-of-sequence until they are next-in-sequence for placement at the destination. The robotic system processes an incoming package, determines if it is next-in-sequence for placement at the destination, and if it is, places the package at the destination. On the other hand, if it is not next-in-sequence for placement at the destination, it stores the package in the storage area. A package in the storage area is transferred to the destination when it is next-in-sequence for placement at the destination. By using the temporary storage for storing out of sequence packages, the robotic system eliminates the need for receiving the packages in a stacking sequence, which also eliminates the need for sequencing machines.

Abstract: Robotic systems with variable gripping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an object-gripping assembly coupled to the robotic arm. The object-gripping assembly can include a main body coupled to the robotic arm through an external connector on an upper surface of the main body and a vacuum operated gripping component coupled to a lower surface of the main body. The object-gripping assembly can also include a variable-width gripping component coupled to the main body. The variable-width gripping component is movable between a fully folded state, a plurality of extended states, and a clamping state to grip a variety of target objects of varying shapes, sizes, weights, and orientations.

Abstract: A computing system including a processing circuit in communication with a robot and a camera having a field of view. The processing circuit obtains image information based on the objects in the field of view and a loading environment, the loading environment which includes loading areas, an object queue, and a buffer zone. The computing system is configured to use the obtained image information in motion planning operations for the retrieval and placement of objects from the object queue into the loading environment. Pallets provided within the loading environment (i.e., within the loading areas) are dedicated to receiving objects having corresponding object type identifiers. The computer system further uses the image information to determine the fill status of pallets existing within the loading environment, and whether new pallets need to be brought into the loading environment and/or swapped out with existing pallets to account for future planning and placement operations.

Abstract: A multi-purpose labeling system can include a conveyor, a visual analysis module, and a labeling assembly. The conveyor can move an object in a first direction. The visual analysis module can include an optical sensor directed toward the conveyor to generate image data depicting the object. The labeling assembly can be spaced from the conveyor in a second direction and include a printer, a labeling module, and an alignment assembly. The printer can print a label based on the image data, and the labeling module can have a labeling plate for receiving the label. The alignment assembly can include a lateral-motion module, a vertical-motion module, and a rotary module for moving the labeling module along or about the first, the second, and a third direction, and can place the labeling plate adjacent to an object surface.

Abstract: A system and method for estimating aspects of target objects and/or associated task implementations is disclosed.

Abstract: A system and method for determining a misdetection of an object and subsequent response is disclosed. A robotic system may use a motion plan, which is derived based on an initial detection result of a package, to transfer the package from a start location to a task location. During implementation of the motion plan, the robotic system may obtain additional sensor data, which can be used to deviate from the initial motion plan and implement a replacement motion plan to transfer the package to the task location.

Abstract: A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

Abstract: A system and method for operating a robotic system to scan and register unrecognized objects is disclosed. The robotic system may use an image data representative of an unrecognized object located at a start location to implement operations for transferring the unrecognized object from the start location. While implementing the operations, the robotic system may obtain additional data, including scanning results of one or more portions of the unrecognized object not included in the image data. The robotic system may use the additional data to register the unrecognized object.