Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.

Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.

Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.

Abstract: A robotic end effector is disclosed. The robotic end effector includes (a) an end effector body having a top side and an operative side opposite the top side, (b) a pull force gripper disposed on the operative side of the end effector body, and (c) a first end effector support structure that is connected to the end effector body and extends from the end effector body in a direction that is orthogonal to the operative side of the end effector body.

Abstract: A pull force based robotic end effector with an integrated mechanical stop is disclosed. In various embodiments, the end effector includes an end effector body having a top side and an operative side opposite the top side; a pull force gripper disposed on the operative side of the end effector body; and an integrated mechanical stop positioned on the operative side of the end effector body adjacent to the suction gripper, the mechanical stop extending from the operative side to an extent that allows the suction gripper to be operatively engaged with an object to be grasped.

Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.

Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be attached to a robotic arm at a central portion of the lateral member, a passive side member fixedly mounted to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member hinged to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be coupled to a robotic arm, a passive side member coupled substantially rigidly to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member coupled to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

Abstract: A task table for use in a robotic system comprising a robot mounted on a carriage configured to move the robot along a path is disclosed. The task table includes a substantially horizontal table surface, and one or more mounting arms to which the table surface is affixed at a first distal end and comprising, at a second distal end opposite the first distal end, one or more mounting structures, the one or more mounting arms having a length that allows the table surface to be mounted to the robot or the carriage at a distance from a base of the robot that enables the robot to reach a plurality of locations on the table surface each with a desired pose.

Abstract: An end effector is disclosed. The end effector includes a first grasping mechanism for grasping at least one first object when the robotic end effector is operated in a first mode and a second grasping mechanism for grasping a second object when the robotic end effector is operated in a second mode. The second grasping mechanism is robotically positioned in an inactive state when the robotic end effector is controlled to operate in the first mode.

Abstract: A stack containment fixture is disclosed. The stack containment fixture includes an insertion zone structure including an insertion zone structure and a kitting area structure. The insertion zone structure includes a pair of substantially vertically oriented deflecting arms. each having one or more funnels configured to guide a stack into a position between the deflecting arms as the stack is lowered into the insertion zone structure from above. The kitting area structure is configured to support the vehicle or the stack during kitting operations for items being placed in the vehicle or stack or for items being picked from the vehicle or stack.

Abstract: The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

Abstract: The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be coupled to a robotic arm, a passive side member coupled substantially rigidly to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member coupled to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

Abstract: The present application discloses a mechanism to adjust backlash in a rack and pinion powertrain assembly. The mechanism to adjust backlash includes a mounting frame having an opening defined therein to receive an operative end of a drive assembly, a shoulder fastener positioned through a first complementary set of holes at a first end of a mounting flange to movably couple the mounting flange to the mounting frame, the fastener being fastened in a manner such that the mounting flange and drive assembly have freedom to pivot about a longitudinal axis of the first complementary set of holes, and an adjustable length coupling device having a first end coupled mechanically to the mounting plate and a second end coupled mechanically to the mounting flange at a location substantially opposite the first end of the mounting flange.

Abstract: The present application discloses a robotic stack mover system, and a method and a computer system for controlling the robotic stack mover system. The robotic stack mover system includes a driving unit comprising a motor, a drive chain, a tensioning unit that enforces tension of the drive chain, and a guide rail traversing a distance between the driving unit and the tensioning unit. The motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven. The guide rail comprises or supports the drive chain. The driving chain comprises a set of pusher units. The pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven.