Abstract: A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.

Abstract: A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgical site, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool.

Abstract: A hybrid gripper that is used as end effector of a robotic manipulator for handling objects that are arranged in top, middle, and bottom shelves of a storage unit. The hybrid gripper may include first and second end effectors, where the first end effector is pivotally coupled to the second end effector. The first end effector includes a first longitudinal support member and an axle member that telescopically moves in and out of the first longitudinal support member. The axle member is attached to a gripper assembly that houses first and second suction cups to grip and pick the objects. The second end effector includes a second longitudinal support member and a spatula that is rotatably attached to the second longitudinal support member. Here, the spatula and the first longitudinal support member move relative to the second longitudinal support member.

Abstract: A robotic manipulator for handling an object is provided. The robotic manipulator includes a first robotic arm and a first end effector coupled to the first robotic arm. A movement of the first robotic arm orients the first end effector with respect to the object. The robotic manipulator includes a housing, a first conveyor operably coupled to the housing, a second conveyor operably coupled to the housing at an angle with respect to the first conveyor, and a first actuation mechanism. The first and second conveyors are arranged to form a top surface and the bottom surface respectively of a spatula-shaped base. The first actuation mechanism operates the first and second conveyors in one of a first direction and a second direction to manipulate the object. The operation of the first conveyor is independent of the operation of the second conveyor.

Abstract: A control server controls a dual-arm robotic manipulator (DARM) for handling deformable objects in a stack. The control server receives a set of images of the stack captured by a set of image sensors, and determines a contour of the stack based the set of images. Based on the contour and historical data associated with the deformable objects in the stack, the control server determines a sequence of actions to be performed by the DARM for handling a first deformable object in the stack, and controls the DARM to handle the first deformable object by communicating a set of commands corresponding to each action in sequence of actions. The first deformable object is handled such that original form factors of the first deformable object and the remaining stack are maintained.

Abstract: A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.

Abstract: A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgical site, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool.

Abstract: A control server controls a dual-arm robotic manipulator (DARM) for handling deformable objects in a stack. The control server receives a set of images of the stack captured by a set of image sensors, and determines a contour of the stack based the set of images. Based on the contour and historical data associated with the deformable objects in the stack, the control server determines a sequence of actions to be performed by the DARM for handling a first deformable object in the stack, and controls the DARM to handle the first deformable object by communicating a set of commands corresponding to each action in sequence of actions. The first deformable object is handled such that original form factors of the first deformable object and the remaining stack are maintained.

Abstract: Examples method and devices for automatic gait transition are described herein. In an example embodiment, a computing system may identify gaits for the robotic device to perform in response to receiving an input for the robotic device to move at a velocity. The system may determine criteria for selecting a gait from the identified gaits for the robotic device to perform based on sensor data of the environment (e.g., slope and terrain) and based on the state of the robotic device. The system may modify the set of criteria based on prior operation of the robotic device in respective environments similar to the environment. Responsive to determining the criteria for selecting a gait, the computing system may determine whether the identified gaits include a gait that enables the robotic device to move at the velocity according to the set of criteria, and provide instructions to operate based on the determination.