Abstract: A robotic system with independently controllable higher derivatives is disclosed. An indication is received of a trajectory through which an end effector comprising a robotic arm is to be moved. A plan is determined to use a combination of one or more motors and one or more energy removal devices to move one or more elements comprising the robotic arm in a manner that will result in the end effector being moved through the trajectory, including by using the one or more motors to apply torque to said one or more elements comprising the robotic arm during a first interval and using the one or more energy removal devices to remove energy from one or more of said elements during a second interval that starts after the start of the first interval. Commands to implement the plan are sent via a communication interface.

Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: A robotic system comprising a mobile chassis, a conveyor oriented substantially parallel to a longitudinal axis of the chassis, one or more robotic arms disposed adjacent to the conveyor, and one or more cameras positioned to view at least a portion of a top surface of the conveyor is disclosed. The system uses the mobile chassis, the conveyor, and the robotic arms to load items into a truck or other container, including by using image data generated by the one or more cameras to assess a state of items on the top surface of the conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the conveyor; and operate a robotically controlled structure to cause an item to be added to the top surface of the conveyor.

Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.

Abstract: A robot is operated in an autonomous mode of operation to perform a plurality of tasks. It is determined that a later task of the plurality of tasks needs human assistance while performing a current task of the plurality of tasks. The human assistance is scheduled for the later task. A teleoperator is communicated with to perform the human assistance associated with the later task.

Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.

Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.

Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.

Abstract: A universal gripper system is disclosed. In various embodiments, the gripper system includes a hub body; a mounting structure configured to enable the hub body to be connected to the distal end of a robotic arm; a palm interface configured to removably mechanically couple to the hub body an interchangeable palm or tool; and a resource supply structure configured to supply a resource to the interchangeable palm or tool.

Abstract: A distributed robot controller is disclosed, comprising a plurality of local controllers, each associated with a corresponding motor included in a plurality of motors comprising a robot; and a robot level controller coupled communicatively with each of the local controllers and configured to determine a plan to operate the plurality of motors to cause the robot to perform a task and send to each of the local controllers included in the plurality of local controllers at least a set of one or more torques associated with the motor with which that local controller is associated.

Abstract: A kitting system is disclosed. In various embodiments, the kitting system includes a conveyance structure configured to impart to an item a first net resultant force substantially in a first direction, wherein the first direction is associated with a direction of flow from a source end of the conveyance structure to a destination end opposite the source end and associated with a pick-up zone from which the item is to be retrieved; a sensor configured to provide a sensor output associated with the pick-up zone; and a processor configured to provide a control input to one or both of the conveyance structure and a disrupter device associated with the conveyance structure based at least in part on the sensor output.

Abstract: A robot is operated in an autonomous mode of operation to perform a plurality of tasks. It is determined that a later task of the plurality of tasks needs human assistance while performing a current task of the plurality of tasks. The human assistance is scheduled for the later task. A teleoperator is communicated with to perform the human assistance associated with the later task.

Abstract: An integrated robotic controller is disclosed which includes a communication interface configured to provide connectivity to a set of elements comprising a robotic system and a processor coupled to the communication interface and configured to: receive state information via the communication interface from or more elements included in the set of elements; make based at least in part on the state information a decision as to how to control one or more elements included in the set of elements; and send to each of the one or more elements, via the communication interface, a command determined based on at least in part on the decision.

Abstract: An extensible robotic system is disclosed. In various embodiments, the system includes a plurality of robotically controlled elements and a processor coupled to a robotically controlled element included in the plurality of robotically controlled elements and configured to control operation of the robotically controlled element to which it is coupled via communications sent via a standard interface implemented across said plurality of robotically controlled elements and to communicate with the robotic system via a communication interface using a communication protocol associated with the robotic system.

Abstract: A robotic system is disclosed comprising a communication interface and a processor coupled to the communication interface and configured to: receive via the communication interface an indication to establish a conveyance path to convey one or more items from a source location at an originating end of the conveyance path to a destination location at a terminating end of the conveyance path; determine programmatically a plan to arrange and configured one or more conveyance structures to provide the conveyance path; and invoke one or more robots to position, couple as needed, and configure as needed the one or more conveyance structures to provide the conveyance path.

Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

Abstract: A robotic unloader/loader system is disclosed. The system includes a first robot configured to autonomously approach and enter a truck or other container and unload items from the truck or other container by placing each item on an outbound conveyor or other material handling equipment; and a set of one or more additional robots configured to work outside the truck or other container, including by picking items from the conveyor or other material handling equipment, from a position to which the items have been conveyed by the conveyor or other material handling equipment, and placing each item in a corresponding one of a plurality of destination locations.

Abstract: A multi-purpose robotic platform is disclosed. In various embodiments, the robotic platform includes a memory configured to store configuration information for each of a plurality of robotic applications; and a processor coupled to the memory and configured to: receive an indication to perform tasks associated with a selected one of the plurality of robotic applications; use the stored configuration information to determine one or both of a required software configuration and a required hardware configuration associated with the selected robotic application; update one or both of a current software configuration and a current hardware configuration of the robotic system as needed to match the required software configuration and the required hardware configuration; and use the updated software configuration and the updated hardware configuration to autonomously perform tasks associated with the selected robotic application.

Abstract: A mobile logistics robot is disclosed. The robot includes a mobile chassis having a plurality of independently controllable drive elements; one or more robotic arms mounted on the mobile chassis; and a processor configured to control the one or more robotic arms and the plurality of independently controllable drive elements as needed to pick items from a set of one or more source locations and place each item in a corresponding destination location included in a set of one or more destination locations, including by using the independently controllable drive elements to move the mobile chassis within a space bounded at least in part by the one or more source locations and the one or more destination locations.

Abstract: A multicamera image processing system is disclosed. In various embodiments, image data is received from each of a plurality of sensors associated with a workspace, the image data comprising for each sensor in the plurality of sensors one or both of visual image information and depth information. Image data from the plurality of sensors is merged to generate a merged point cloud data. Segmentation is performed based on visual image data from at least a subset of the sensors in the plurality of sensors to generate a segmentation result. One or both of the merged point cloud data and the segmentation result is/are used to generate a merged three dimensional and segmented view of the workspace.