Abstract: A suction and edge or other grasping combination gripper is disclosed. In various embodiments, the combination gripper is configured to be mounted on a robotic arm and includes a first set of elements configured to grasp an item by applying suction to a surface of the item and a second set of elements comprising a set of digits configured to engage mechanically a graspable structure or feature of the item.

Abstract: A functional safety system for robots is disclosed. In various embodiments, sensor data is received from one or more sensors. The sensor data is used to detect, in or near a workspace in which a robot with which the robotic safety system is associated is located, an actor or instrumentality that poses a potential safety risk to one or both of the robot and the detected actor or instrumentality. A safety posture of the robotic safety system with respect to the robot is adapted to an extent needed to ensure the continued safety of both the robot and the detected actor or instrumentality. The adapted safety posture takes into account one or more of a task of the robot and a position and velocity of the actor or instrumentality relative to the robot.

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 baggage handlings system is disclosed. The system receives data from one or more sensors and uses sensor data received from the one or more sensors to generate a three-dimensional view of a baggage handling workspace to generate and implement a plan to use one or more robotic arms to pick and place baggage items as needed to do one or both of (1) load baggage items from a first baggage conveyor into or onto a trolley, Unit Load Device (ULD), or other container; and (2) remove baggage items from a trolley, Unit Load Device (ULD), or other container and place each on a second baggage conveyor.

Abstract: A robotic merge induction system is disclosed. The system includes a plurality of robotic induction stations, each comprising one or more robots, each robot being configured to pick items from a pick area associated with the station with which the robot is associated and place each item in a placement location on a robotically controlled injection conveyance structure associated with the station; and a processor configured to control the robotically controlled injection conveyance structure to inject each item placed on the robotically controlled injection conveyance structure onto a downstream conveyance structure that is common to the plurality of robotic induction stations.

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.