Patents by Inventor Troy Straszheim
Troy Straszheim 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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Patent number: 11383380Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: GrantFiled: November 18, 2019Date of Patent: July 12, 2022Assignee: Intrinsic Innovation LLCInventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen, Stefan Hinterstoisser, Hauke Strasdat
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Patent number: 11373395Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.Type: GrantFiled: April 10, 2020Date of Patent: June 28, 2022Assignee: X Development LLCInventors: Dirk Holz, Troy Straszheim
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Publication number: 20200242396Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.Type: ApplicationFiled: April 10, 2020Publication date: July 30, 2020Inventors: Dirk Holz, Troy Straszheim
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Patent number: 10650270Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.Type: GrantFiled: October 9, 2017Date of Patent: May 12, 2020Assignee: X Development LLCInventors: Dirk Holz, Troy Straszheim
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Publication number: 20200078938Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: ApplicationFiled: November 18, 2019Publication date: March 12, 2020Inventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen, Stefan Hinterstoisser, Hauke Strasdat
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Patent number: 10518410Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: GrantFiled: May 1, 2018Date of Patent: December 31, 2019Assignee: X Development LLCInventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen, Stefan Hinterstoisser, Hauke Strasdat
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Publication number: 20180307941Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.Type: ApplicationFiled: October 9, 2017Publication date: October 25, 2018Inventors: Dirk Holz, Troy Straszheim
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Publication number: 20180243904Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: ApplicationFiled: May 1, 2018Publication date: August 30, 2018Inventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen, Stefan Hinterstoisser, Hauke Strasdat
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Patent number: 9987746Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: GrantFiled: April 7, 2016Date of Patent: June 5, 2018Assignee: X Development LLCInventors: Gary Bradski, Kurt Konolige, Ethan Rublee, Troy Straszheim, Hauke Strasdat, Stefan Hinterstoisser, Steve Croft, John Zevenbergen
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Patent number: 9927815Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.Type: GrantFiled: July 13, 2017Date of Patent: March 27, 2018Assignee: X Development LLCInventors: Stefan Nusser, Troy Straszheim, John Zevenbergen, Ethan Rublee
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Publication number: 20170308096Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.Type: ApplicationFiled: July 13, 2017Publication date: October 26, 2017Inventors: Stefan Nusser, Troy Straszheim, John Zevenbergen, Ethan Rublee
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Patent number: 9733646Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.Type: GrantFiled: November 10, 2014Date of Patent: August 15, 2017Assignee: X Development LLCInventors: Stefan Nusser, Troy Straszheim, John Zevenbergen, Ethan Rublee
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Patent number: 9688489Abstract: An example apparatus includes an enclosed rectangular container, including an openable first end and an openable second end. The apparatus further includes at least one first supporting base positioned proximate to the first end of the container that has an adjustable height in order to align a floor of the container with a trailer. The apparatus also includes at least one second supporting base positioned proximate to the second end of the container that has an adjustable height in order to align the floor of the container with a loading dock. The apparatus additionally includes a robotic manipulator connected to the floor of the container that is configured to move one or more objects between the trailer and the loading dock by moving the one or more objects through the container when the first end and the second end of the container are opened.Type: GrantFiled: March 30, 2015Date of Patent: June 27, 2017Assignee: X Development LLCInventors: John Zevenbergen, Stefan Nusser, Troy Straszheim
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Patent number: 9630321Abstract: Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.Type: GrantFiled: December 10, 2015Date of Patent: April 25, 2017Assignee: Industrial Perception, Inc.Inventors: Gary Bradski, Kurt Konolige, Ethan Rublee, Troy Straszheim, Hauke Strasdat, Stefan Hinterstoisser
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Patent number: 9630320Abstract: Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.Type: GrantFiled: July 7, 2015Date of Patent: April 25, 2017Assignee: Industrial Perception, Inc.Inventors: Kurt Konolige, Ethan Rublee, Stefan Hinterstoisser, Troy Straszheim, Gary Bradski, Hauke Malte Strasdat
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Patent number: 9498887Abstract: An example two-faced linearly actuated suction gripper includes a first gripping surface having one or more first suction cups arranged to provide suction in a first direction. The suction gripper also includes a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction. The suction gripper further includes a linear actuator configured to provide movement of the second gripping surface parallel to the second direction towards a face of an object. The suction gripper includes a sensor configured to generate data indicating that the face of the object is adjacent to the second gripping surface; and an engageable brake that, when engaged, stops the movement of the linear actuator in response to the data from the sensor indicating that the second gripping surface is adjacent to the face of the object.Type: GrantFiled: July 24, 2014Date of Patent: November 22, 2016Assignee: X Development LLCInventors: John Zevenbergen, Ethan Rublee, Kurt Konolige, Troy Straszheim
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Patent number: 9492924Abstract: Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.Type: GrantFiled: June 15, 2016Date of Patent: November 15, 2016Assignee: Industrial Perception, Inc.Inventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen
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Publication number: 20160288324Abstract: Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.Type: ApplicationFiled: June 15, 2016Publication date: October 6, 2016Applicant: Industrial Perception, Inc.Inventors: Gary Bradski, Steve Croft, Kurt Konolige, Ethan Rublee, Troy Straszheim, John Zevenbergen
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Patent number: 9457970Abstract: An example system includes a plurality of trailers arranged such that a given trailer of the plurality is connected to at least one other trailer of the plurality, where the plurality of trailers includes a plurality of respective conveyance systems to transport objects between connected trailers. The system further includes a control system configured to cause a conveyance system of a first trailer of the plurality to move at least one object to the first trailer from a first external trailer, cause respective conveyance systems of one or more trailers of the plurality to transport the at least one object from the first trailer of the plurality to a second trailer of the plurality that is connected to a second external trailer, and cause a conveyance system of the second trailer of the plurality to move the at least one object to the second external trailer.Type: GrantFiled: July 6, 2015Date of Patent: October 4, 2016Assignee: Google Inc.Inventors: John Zevenbergen, Stefan Nusser, Troy Straszheim
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Publication number: 20160221187Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.Type: ApplicationFiled: April 7, 2016Publication date: August 4, 2016Inventors: Gary Bradski, Kurt Konolige, Ethan Rublee, Troy Straszheim, Hauke Strasdat, Stefan Hinterstoisser, Steve Croft, John Zevenbergen