Patents by Inventor Sachin Chitta
Sachin Chitta has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240408746Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: ApplicationFiled: August 21, 2024Publication date: December 12, 2024Applicant: Boston Dynamics, Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Patent number: 12090656Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: GrantFiled: July 7, 2023Date of Patent: September 17, 2024Assignee: Boston Dynamics, Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Publication number: 20240001537Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: ApplicationFiled: July 7, 2023Publication date: January 4, 2024Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Publication number: 20230278213Abstract: Techniques are disclosed for controlling robotic systems to perform assembly tasks. In some embodiments, a robot control application receives sensor data associated with one or more parts. The robot control application applies a grasp perception model to predict one or more grasp proposals indicating regions of the one or more parts that a robotic system can grasp. The robot control application causes the robotic system to grasp one of the parts based on a corresponding grasp proposal. If the pose of the grasped part needs to be changed in order to assemble the part with one or more other parts, the robot control application determines movements of the robotic system required to re-grasp the part in a different pose. In addition, the robot control application determines movements of the robot system for assembling the part with the one or more other parts based on results of a motion planning technique.Type: ApplicationFiled: January 11, 2023Publication date: September 7, 2023Inventors: Yoshihito Yotto KOGA, Sachin CHITTA, Heather KERRICK
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Patent number: 11731267Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: GrantFiled: December 28, 2021Date of Patent: August 22, 2023Assignee: Boston Dynamics, Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Publication number: 20220118606Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: ApplicationFiled: December 28, 2021Publication date: April 21, 2022Applicant: Kinema Systems Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Patent number: 11235458Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: GrantFiled: August 12, 2019Date of Patent: February 1, 2022Assignee: Boston Dynamics, Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Publication number: 20200047331Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.Type: ApplicationFiled: August 12, 2019Publication date: February 13, 2020Applicant: Boston Dynamics, Inc.Inventors: Sachin Chitta, Dave Hershberger, Karl Pauwels
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Patent number: 10124489Abstract: Techniques are described that enable robotic picking systems to locate and pick boxes from an unstructured pallet using computer vision and/or one or more “exploratory picks” to determine the sizes and locations of boxes on the pallet.Type: GrantFiled: January 30, 2017Date of Patent: November 13, 2018Assignee: Kinema Systems Inc.Inventors: Sachin Chitta, David Hershberger, Karl Pauwels
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Publication number: 20170246744Abstract: Techniques are described that enable robotic picking systems to locate and pick boxes from an unstructured pallet using computer vision and/or one or more “exploratory picks” to determine the sizes and locations of boxes on the pallet.Type: ApplicationFiled: January 30, 2017Publication date: August 31, 2017Inventors: Sachin Chitta, David Hershberger, Karl Pauwels