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: The present application discloses a system, a method, and a computer system for moving items deemed to be too heavy to be picked up by a robotic arm. The method includes (i) receiving sensor data from one or more sensors associated with a source conveyor configured to convey items to a pick location, (ii) determining, based at least in part on the sensor data, that an item that is too heavy to be lifted by a robotic arm controlled by the one or more processors has entered the source conveyor, and (iii) providing an output indicating that the item too heavy to be lifted by the robotic arm has been detected.

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: The present application discloses a system, a method, and a computer system for handling items deemed to require special handling. The method includes (i) receiving via the communication interface an indication that a given item in a source of items requires special handling, and (ii) actuating an item diversion structure comprising or otherwise associated with the source of items to divert the given item to a location associated with alternative item handling.

Abstract: The present application discloses a system, a method, and a computer system for moving items deemed to be too heavy to be picked up by a robotic arm. The method includes (i) receiving image data associated with a workspace, wherein the workspace includes a source of items to be placed singly each in a respective corresponding location on a segmented conveyance structure adjacent to at least a portion of the source of items, (ii) receiving an indication that a first item in the source of items is too heavy to be picked up by a first robotic arm the one or more processors are configured to control, (iii) determining, based at least in part on the image data, a plan to use the first robotic arm to push the first item onto an associated corresponding location on the segmented conveyance structure as the associated corresponding location on the segmented conveyance structure moves past the source of items, and (iv) controlling the first robotic arm to implement the plan.

Abstract: The present application discloses a method, system, and computer system for controlling a gating structure to mediate a flow of items an input source to a pick area. The system includes: (i) the gating structure, which is configured to use a plurality of gate elements to mediate a flow of items from the input source to the pick area, (ii) a sensor configured to provide a sensor output associated with the pick area, and (iii) a processor configured to provide a control input to the gating structure to adjust a configuration of one or more of the plurality of gating elements based at least in part on the sensor output. The sensor output comprises the sensor output comprises one or more of a flow rate, a number, and an orientation of objects in an area associated with picking of objects by one or more robots. The control input is determined based at least in part on one or more of the flow rate, the number, and the orientation of objects in the area associated with picking of objects by one or more robots.

Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.

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 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 an end effector-mounted sensor is disclosed. In various embodiments, a robotic arm is manipulated to move a sensor to a position such that an object of interest is within a read range of the sensor. A sensor data read by the sensor is received via a communication interface. The sensor data is used to determine an attribute of the object; and the determined attribute of the object is used to determine a plan to grasp and move the object.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including data associated with an item present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.

Abstract: A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.