Abstract: A method of grasping and/or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.

Abstract: Methods and apparatus for operating a mobile robot in a loading dock environment are provided. The method comprises capturing, by a camera system of the mobile robot, at least one image of the loading dock environment, and processing, by at least one hardware processor of the mobile robot, the at least one image using a machine learning model trained to identify one or more features of the loading dock environment.

Abstract: A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.

Abstract: A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

Abstract: Provided herein are methods of producing an RPE cell population from a starting cell suspension, such as a single cell suspension, of pluripotent stem cells (PSCs). Such a method may comprise culturing the starting single cell suspension of PSCs in differentiation media to produce human RPE cells.

Abstract: A method of modeling a turbine mounted behind an aircraft wing for providing a specified proportion of a propulsive force in the aircraft flight direction to an amount of power generated by the turbine when driven by the airflow trailing the wings. The turbine converts a portion of the otherwise wasted energy in the rotational vortices trailing the aircraft wings into thrust that reduces aircraft drag while also providing electricity to power electrical systems on the aircraft. The method is also capable of modeling a turbine construction that will use the energy in the wake solely to generate electricity without increasing drag on the aircraft or solely to reduce drag without generating electricity. In one embodiment, the method saves computation time by using a recursive routine to define a preliminary turbine configuration based on an idealized vortex model and then matches it to the flow trailing an actual aircraft wing.

Abstract: A method includes receiving sensor data for an environment about the robot. The sensor data is captured by one or more sensors of the robot. The method includes detecting one or more objects in the environment using the received sensor data. For each detected object, the method includes authoring an interaction behavior indicating a behavior that the robot is capable of performing with respect to the corresponding detected object. The method also includes augmenting a localization map of the environment to reflect the respective interaction behavior of each detected object.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: Methods and compositions relating to the production of induced pluripotent stem cells (iPS cells) are disclosed. For example, induced pluripotent stem cells may be generated from peripheral blood cells, such as human blood progenitor cells, using episomal reprogramming and feeder-free or xeno-free conditions. In certain embodiments, the invention provides novel methods for improving overall reprogramming efficiency with low number of blood progenitor cells.

Abstract: A connecting mechanism includes a first section and a second section engageable with the first section. The second section includes a locking assembly configured to engage a stud with a roller bearing in the first section. That is, the locking assembly is actuatable between a locked state configured to lock the first section to the second section when the first and second sections are engaged and an unlocked state configured to allow the second section to engage with or disengage from the first section. The locking assembly includes a linkage arm engaging a handle and a wedge having a tapered section. The handle is actuatable between a locked position configured to place the locking assembly in the locked state by advancing the tapered section of the wedge and an unlocked position configured to place the locking assembly in the unlocked state by retracting the tapered section of the wedge.

Abstract: Midbrain dopaminergic neuronal precursor cells that can be used to treat a brain disorder are provided herein. Improved mono-SMAD methods are provided that can be used to differentiate pluripotent cells into midbrain dopaminergic (DA) neurons or midbrain neuronal precursors. In some aspects, methods are provided for mono-SMAD culture protocols and culture durations that can be used to generate dopaminergic neuronal precursor cells that have significantly improved properties for the treatment of a brain disorder such as, e.g., Parkinson's disease. Methods of treating Parkinson's disease and other brain diseases with the midbrain dopaminergic neuronal precursor cells are also provided.

Abstract: Methods and apparatus for controlling a robotic gripper of a robotic device are provided. The method includes activating a plurality of vacuum assemblies of the robotic gripper to grasp one or more objects, disabling one or more of the plurality of vacuum assemblies having a seal quality with the one or more objects that is less than a first threshold, assigning a score to each of the one or more disabled vacuum assemblies, reactivating the one or more disabled vacuum assemblies in an order based, at least in part, on the assigned scores, and grasping the one or more objects with the robotic gripper when a grasp quality of the robotic gripper is higher than a second threshold.

Abstract: Methods and apparatus for automated calibration for a LIDAR system of a mobile robot are provided. The method comprises capturing a plurality of LIDAR measurements. The plurality of LIDAR measurements include a first set of LIDAR measurements as the mobile robot spins in a first direction at a first location, the first location being a first distance to a calibration target, and a second set of LIDAR measurements as the mobile robot spins in a second direction at a second location, the second location being a second distance to the calibration target, wherein the first direction and the second direction are different and the second distance is different than the first distance. The method further comprises processing the plurality of LIDAR measurements to determine calibration data, and generating alignment instructions for the LIDAR system based, at least in part, on the calibration data.

Abstract: Methods and apparatus for estimating a ceiling location of a container within which a mobile robot is configured to operate are provided. The method comprises sensing distance measurement data associated with the ceiling of the container using one or more distance sensors arranged on an end effector of a mobile robot, and determining a ceiling estimate of the container based on the distance measurement data.

Abstract: A conveyor idler replacement system in one example with an H-frame (support frame). The system including a base with a first vertical strut extending from the base, a second vertical strut extending substantially vertically from the base; each of the first vertical strut and second vertical strut comprising a first idler frame bracket on a first longitudinal side of the H-frame; a first idler frame extending between the first idler frame bracket on the first vertical strut and the first idler frame bracket on the second vertical strut; at least one idler attached to the first idler frame, the idler configured to rotate, configured to support a conveyor belt. Including a system for lifting the belt and replacing idler frames.