Grippers for robotic manipulation of objects and related technology — Agility Robotics, Inc. (US11707852B1)

ABSTRACT

Abstract

A robot in accordance with at least some embodiments of the present technology is configured for bimanual manipulation of objects. The robot includes a body and two arms individually defining an arm length and including an end effector, an end effector joint proximally adjacent to the end effector along a kinematic chain corresponding to the arm, and a gripper proximal to the end effector along the arm length. The end effector joint is configured to rotate the end effector relative to the gripper. The robot is configured to move at least a portion of a bottom surface of an object away from a support surface by applying force to the object via frictional interfaces between convex gripping surfaces of the grippers and side surfaces of the object. This creates a gap into which paddles of the end effectors can be inserted to support the object from below.

Description

CROSS-REFERENCE TO RELATED APPLICATION

This claims the benefit of U.S. Provisional Application No. 63/382,447, filed Nov. 4, 2022. The foregoing application is incorporated herein by reference in its entirety. To the extent the foregoing application and/or any other material incorporated herein by reference conflicts with the present disclosure, the preset disclosure controls.

TECHNICAL FIELD

The present technology relates to robots that manipulate objects.

BACKGROUND

Many simple tasks that humans currently perform are amenable to automation using robotics. Among such tasks are those involving moving goods between locations within distribution centers. For example, after a trailer or pallet containing goods arrives at a distribution center, humans typically move the goods from the trailer or pallet onto a conveyor that carries the goods to other locations within the distribution center for further processing. Similarly, although a conveyor can be used to deliver outgoing goods to a loading dock or palletizing station, humans are still needed to move the goods from the conveyor to outgoing trailers or pallets. Despite the apparent simplicity of loading and unloading trailers and pallets, these tasks have conventionally been difficult or impossible to fully automate. As another example, humans at distribution centers that handle order fulfillment for electronic commerce are often tasked with picking and packing goods for last mile delivery. These distribution centers are massive in scale and handle a wide variety of goods. Even with the aid of sophisticated route optimization systems, locating and retrieving goods to fill orders as needed tends to be labor intensive.

In the forgoing examples and in other cases, the use of human labor to perform repetitive and time-consuming tasks is inefficient. Human labor would be far better applied to more complex tasks, particularly those involving creativity or advanced problem solving. Presently, however, the need for distribution centers and humans to operate them is large and increasing rapidly as consumers shift toward electronic commerce. Due to the importance of this field, even small improvements in efficiency can have major impacts on macroeconomic productivity. For these and/or other reasons, there is a significant and growing need for innovation that supports automating simple tasks that humans currently perform at distribution centers and elsewhere.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain aspects of the present technology can be better understood with reference to the following drawings. The relative dimensions in the drawings may be to scale with respect to some embodiments of the present technology. With respect to other embodiments, the drawings may not be to scale. The drawings may also be enlarged arbitrarily. For clarity, reference-number labels for analogous components or features may be omitted when the appropriate reference-number labels for such analogous components or features are clear in the context of the specification and all of the drawings considered together. Furthermore, the same reference numbers may be used to identify analogous components or features in multiple described embodiments.

FIGS. 1 and 2 are different perspective views of a robot in accordance with at least some embodiments of the present technology with the robot being in a first state.

FIG. 3 is a front profile view of the robot in the first state shown in FIG. 1 .

FIGS. 4 - 7 are perspective views of a first arm, a second arm, a first leg, and a second leg, respectively, of the robot shown in FIG. 1 .

FIGS. 8 - 11 are silhouette views of the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .

FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .

FIGS. 16 - 19 are partially transparent perspective views of the first arm, the second arm, the first leg, and the second leg, respectively, of the robot shown in FIG. 1 .

FIG. 20 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot.

FIG. 21 is a front profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 20 along the kinematic chain of FIG. 12 .

FIG. 22 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 21 along the kinematic chain of FIG. 12 .

FIG. 23 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 22 along the kinematic chain of FIG. 12 .

FIGS. 24 and 25 are perspective views of a portion of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 23 along the kinematic chain of FIG. 12 .

FIG. 26 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIGS. 24 and 25 along the kinematic chain of FIG. 12 .

FIG. 27 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 26 along the kinematic chain of FIG. 12 .

FIG. 28 is a front profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot along the kinematic chain of FIG. 14 .

FIG. 29 is a top plan view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 28 along the kinematic chain of FIG. 14 .

FIG. 30 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 29 along the kinematic chain of FIG. 14 .

FIG. 31 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about two leg joints of the robot distal to the leg joint of FIG. 30 along the kinematic chain of FIG. 14 .

FIGS. 32 and 33 are side profile views of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joints of FIG. 31 along the kinematic chain of FIG. 14 .

FIG. 34 is a block diagram illustrating an electrical and computer system of the robot shown in FIG. 1 .

FIG. 35 is a perspective view of a portion of the first arm of the robot shown in FIG. 1 .

FIGS. 36 and 37 are, respectively, a first side profile view and an opposite second side profile view of a portion of the first arm of the robot shown in FIG. 1 .

FIG. 38 is a front profile view of a portion of the first arm of the robot shown in FIG. 1 indicating a curvature of a first gripper of the first arm in a first plane.

FIG. 39 is a top plan view of a portion of the first arm of the robot shown in FIG. 1 indicating a curvature of the first gripper of the first arm in a second plane perpendicular to the first plane.

FIGS. 40 - 47 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a first object-manipulating method in accordance with at least some embodiments of the present technology.

FIGS. 48 - 52 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a second object-manipulating method in accordance with at least some embodiments of the present technology.

FIGS. 53 - 56 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a third object-manipulating method in accordance with at least some embodiments of the present technology.

DETAILED DESCRIPTION

Disclosed herein are robots and associated devices, systems, and methods. Robots in accordance with at least some embodiments of the present technology include innovative features that facilitate moving objects while the objects are at least partially supported from below the objects rather than only supported from the top and/or sides of the objects. This can be useful, for example, to increase the reliability of the support and/or to reduce or prevent damage to the objects. In contrast to object support from below, object support from only the top or one side of an object (e.g., by suction) is far more prone to failure. Also in contrast to object support from below, object support from only two sides of an object (e.g., by squeezing) is far more prone to damaging the object. A challenge of supporting an object at least partially from below, however, is that a bottom surface of an object may not be readily accessible. In the case of a box resting on a flat support surface (e.g., a table, a shelf, etc.), for example, there may be no gap between the box and the support surface that would admit an end effector. Moreover, forcing an end effector under a box in this state is likely to damage the box, especially when the box is heavy. Robots in accordance with at least some embodiments of the present technology include features that at least partially address this problem, among others.

A robot in accordance with at least some embodiments of the present technology includes both end effectors and grippers proximal to the end effectors. The end effectors can serve at least primarily to support an object from below the object during a prolonged operation, such as while the robot carries the object between locations within a distribution center. The grippers, in contrast, can serve at least primarily to support the object temporarily from the sides of the object. Accordingly, the grippers can facilitate shifting an object away from a support surface enough to allow the end effectors to be positioned under the object. In at least some cases, the grippers include features that promote strong frictional contact with vertical and/or near-vertical side surfaces of an object. Furthermore, the grippers can include features that promote maneuverability of an object during various robotic operations involving shifting the object. For example, a gripper in accordance with at least some embodiments of the present technology includes a convex gripping surface that maintains contact with a side surface of an object even as the object rotates relative to the gripper and/or as the gripper rotates relative to the object. These and other features of robots and associated devices, systems, and methods in accordance with various embodiments of the present technology are further described below with reference to FIGS. 1 - 56 .

Although devices, systems, and methods may be described herein primarily or entirely in the context of robotic, bimanual manipulation of boxes, other contexts are within the scope of the present technology. For example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating boxes using only one or more than two robotic arms. As another example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating objects other than boxes, such as totes, crates, non-packaged hard goods, irregularly shaped objects, etc. Furthermore, it should be understood, in general, that other devices, systems, and methods in addition to those disclosed herein are within the scope of the present disclosure. For example, devices, systems, and methods in accordance with embodiments of the present technology can have different and/or additional configurations, components, procedures, etc. than those disclosed herein. Moreover, devices, systems, and methods in accordance with embodiments of the present disclosure can be without one or more of the configurations, components, procedures, etc. disclosed herein without deviating from the present technology.

Robot Systems

FIGS. 1 and 2 are different perspective views of a robot 100 in accordance with at least some embodiments of the present technology. FIG. 3 is a front profile view of the <figure-callout id="100" label="robot" filenames="US11707852-20230725-D00001.png,US11707

CROSS-REFERENCE TO RELATED APPLICATION

This claims the benefit of U.S. Provisional Application No. 63/382,447, filed Nov. 4, 2022. The foregoing application is incorporated herein by reference in its entirety. To the extent the foregoing application and/or any other material incorporated herein by reference conflicts with the present disclosure, the preset disclosure controls.

TECHNICAL FIELD

The present technology relates to robots that manipulate objects.

BACKGROUND

Many simple tasks that humans currently perform are amenable to automation using robotics. Among such tasks are those involving moving goods between locations within distribution centers. For example, after a trailer or pallet containing goods arrives at a distribution center, humans typically move the goods from the trailer or pallet onto a conveyor that carries the goods to other locations within the distribution center for further processing. Similarly, although a conveyor can be used to deliver outgoing goods to a loading dock or palletizing station, humans are still needed to move the goods from the conveyor to outgoing trailers or pallets. Despite the apparent simplicity of loading and unloading trailers and pallets, these tasks have conventionally been difficult or impossible to fully automate. As another example, humans at distribution centers that handle order fulfillment for electronic commerce are often tasked with picking and packing goods for last mile delivery. These distribution centers are massive in scale and handle a wide variety of goods. Even with the aid of sophisticated route optimization systems, locating and retrieving goods to fill orders as needed tends to be labor intensive.

In the forgoing examples and in other cases, the use of human labor to perform repetitive and time-consuming tasks is inefficient. Human labor would be far better applied to more complex tasks, particularly those involving creativity or advanced problem solving. Presently, however, the need for distribution centers and humans to operate them is large and increasing rapidly as consumers shift toward electronic commerce. Due to the importance of this field, even small improvements in efficiency can have major impacts on macroeconomic productivity. For these and/or other reasons, there is a significant and growing need for innovation that supports automating simple tasks that humans currently perform at distribution centers and elsewhere.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain aspects of the present technology can be better understood with reference to the following drawings. The relative dimensions in the drawings may be to scale with respect to some embodiments of the present technology. With respect to other embodiments, the drawings may not be to scale. The drawings may also be enlarged arbitrarily. For clarity, reference-number labels for analogous components or features may be omitted when the appropriate reference-number labels for such analogous components or features are clear in the context of the specification and all of the drawings considered together. Furthermore, the same reference numbers may be used to identify analogous components or features in multiple described embodiments.

FIGS. 1 and 2 are different perspective views of a robot in accordance with at least some embodiments of the present technology with the robot being in a first state.

FIG. 3 is a front profile view of the robot in the first state shown in FIG. 1 .

FIGS. 4 - 7 are perspective views of a first arm, a second arm, a first leg, and a second leg, respectively, of the robot shown in FIG. 1 .

FIGS. 8 - 11 are silhouette views of the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .

FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .

FIGS. 16 - 19 are partially transparent perspective views of the first arm, the second arm, the first leg, and the second leg, respectively, of the robot shown in FIG. 1 .

FIG. 20 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot.

FIG. 21 is a front profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 20 along the kinematic chain of FIG. 12 .

FIG. 22 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 21 along the kinematic chain of FIG. 12 .

FIG. 23 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 22 along the kinematic chain of FIG. 12 .

FIGS. 24 and 25 are perspective views of a portion of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 23 along the kinematic chain of FIG. 12 .

FIG. 26 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIGS. 24 and 25 along the kinematic chain of FIG. 12 .

FIG. 27 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 26 along the kinematic chain of FIG. 12 .

FIG. 28 is a front profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot along the kinematic chain of FIG. 14 .

FIG. 29 is a top plan view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 28 along the kinematic chain of FIG. 14 .

FIG. 30 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 29 along the kinematic chain of FIG. 14 .

FIG. 31 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about two leg joints of the robot distal to the leg joint of FIG. 30 along the kinematic chain of FIG. 14 .

FIGS. 32 and 33 are side profile views of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joints of FIG. 31 along the kinematic chain of FIG. 14 .

FIG. 34 is a block diagram illustrating an electrical and computer system of the robot shown in FIG. 1 .

FIG. 35 is a perspective view of a portion of the first arm of the robot shown in FIG. 1 .

FIGS. 36 and 37 are, respectively, a first side profile view and an opposite second side profile view of a portion of the first arm of the robot shown in FIG. 1 .

FIG. 38 is a front profile view of a portion of the first arm of the robot shown in FIG. 1 indicating a curvature of a first gripper of the first arm in a first plane.

FIG. 39 is a top plan view of a portion of the first arm of the robot shown in FIG. 1 indicating a curvature of the first gripper of the first arm in a second plane perpendicular to the first plane.

FIGS. 40 - 47 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a first object-manipulating method in accordance with at least some embodiments of the present technology.

FIGS. 48 - 52 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a second object-manipulating method in accordance with at least some embodiments of the present technology.

FIGS. 53 - 56 are illustrations of portions of the first and second arms of the robot shown in FIG. 1 and associated structures at different respective times during a third object-manipulating method in accordance with at least some embodiments of the present technology.

DETAILED DESCRIPTION

Disclosed herein are robots and associated devices, systems, and methods. Robots in accordance with at least some embodiments of the present technology include innovative features that facilitate moving objects while the objects are at least partially supported from below the objects rather than only supported from the top and/or sides of the objects. This can be useful, for example, to increase the reliability of the support and/or to reduce or prevent damage to the objects. In contrast to object support from below, object support from only the top or one side of an object (e.g., by suction) is far more prone to failure. Also in contrast to object support from below, object support from only two sides of an object (e.g., by squeezing) is far more prone to damaging the object. A challenge of supporting an object at least partially from below, however, is that a bottom surface of an object may not be readily accessible. In the case of a box resting on a flat support surface (e.g., a table, a shelf, etc.), for example, there may be no gap between the box and the support surface that would admit an end effector. Moreover, forcing an end effector under a box in this state is likely to damage the box, especially when the box is heavy. Robots in accordance with at least some embodiments of the present technology include features that at least partially address this problem, among others.

A robot in accordance with at least some embodiments of the present technology includes both end effectors and grippers proximal to the end effectors. The end effectors can serve at least primarily to support an object from below the object during a prolonged operation, such as while the robot carries the object between locations within a distribution center. The grippers, in contrast, can serve at least primarily to support the object temporarily from the sides of the object. Accordingly, the grippers can facilitate shifting an object away from a support surface enough to allow the end effectors to be positioned under the object. In at least some cases, the grippers include features that promote strong frictional contact with vertical and/or near-vertical side surfaces of an object. Furthermore, the grippers can include features that promote maneuverability of an object during various robotic operations involving shifting the object. For example, a gripper in accordance with at least some embodiments of the present technology includes a convex gripping surface that maintains contact with a side surface of an object even as the object rotates relative to the gripper and/or as the gripper rotates relative to the object. These and other features of robots and associated devices, systems, and methods in accordance with various embodiments of the present technology are further described below with reference to FIGS. 1 - 56 .

Although devices, systems, and methods may be described herein primarily or entirely in the context of robotic, bimanual manipulation of boxes, other contexts are within the scope of the present technology. For example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating boxes using only one or more than two robotic arms. As another example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating objects other than boxes, such as totes, crates, non-packaged hard goods, irregularly shaped objects, etc. Furthermore, it should be understood, in general, that other devices, systems, and methods in addition to those disclosed herein are within the scope of the present disclosure. For example, devices, systems, and methods in accordance with embodiments of the present technology can have different and/or additional configurations, components, procedures, etc. than those disclosed herein. Moreover, devices, systems, and methods in accordance with embodiments of the present disclosure can be without one or more of the configurations, components, procedures, etc. disclosed herein without deviating from the present technology.

Robot Systems

FIGS. 1 and 2 are different perspective views of a robot 100 in accordance with at least some embodiments of the present technology. FIG. 3 is a front profile view of the robot 100 . As shown in FIGS. 1 - 3 , the robot 100 can have a humanoid form. The robot 100 can include structures resembling human anatomy with respect to the features, positions, and/or other characteristics of such structures. In at least some cases, the robot 100 defines a midsagittal plane 102 about which the robot 100 is bilaterally symmetrical. In these and other cases, the robot 100 can be configured for bipedal locomotion similar to that of a human. Counterparts of the robot 100 can have other suitable forms and features. For example, a counterpart of the robot 100 can have a non-humanoid form, such as a canine form, an insectoid form, an arachnoid form, or a form with no animal analog. Furthermore a counterpart of the robot 100 can be asymmetrical or have symmetry other than bilateral. Still further, a counterpart of the robot 100 can be configured for non-bipedal locomotion. For example, a counterpart of the robot 100 can be configured for another type of legged locomotion (e.g., quadrupedal locomotion, octopedal locomotion, etc.) and/or non-legged locomotion (e.g., wheeled locomotion, continuous-track locomotion, etc.).

With reference again to FIGS. 1 - 3 , the robot 100 can include a centrally disposed body 103 through which other structures of the robot 100 are interconnected. As all or a portion of the body 103 , the robot 100 can include a torso 104 having a superior portion 106 , an inferior portion 108 , and an intermediate portion 109 therebetween. The robot 100 can define a transverse plane 110 from which the superior and inferior portions

106 , 108 of the torso 104 are respectively superiorly and inferiorly spaced apart. The robot 100 can further include a head 111 superiorly spaced apart from the torso 104 . The robot 100 can also include a neck 112 through which the head 111 is connected to the torso 104 via the superior portion 106 of the torso 104 . The head 111 can have an anteriorly directed display 113 including light-emitting diodes selectively controllable to create a composite, pixelated image evocative of human facial expression. The robot 100 can further include an anteriorly directed audio transmissive window 114 at the intermediate portion 109 of the torso 104 , a posteriorly directed exhaust vent 115 at the inferior portion 108 of the torso 104 , and handles 116 a , 116 b extending, respectively, posteriorly from the superior portion 106 of the torso 104 and posteriorly from the inferior portion 108 of the torso 104 . The robot 100 can still further include sensor arrays 117 (individually identified as sensor arrays 117 a - 117 d ) carried by the torso 104 and the head 111 . The sensor arrays

117 a , 117 b can be at the superior portion 106 of the torso 104 and anteriorly and posteriorly directed, respectively. The sensor arrays

117 c , 117 d can be at opposite respective sides of the head 111 and can be directed in opposite respective lateral directions.

The robot 100 can further include articulated appendages carried by the torso 104 . Among these articulated appendages, the robot 100 can include arms

118 a , 118 b and legs

120 a , 120 b . In at least some cases, the robot 100 is configured to manipulate objects via the arms

118 a , 118 b , such as bimanually. In these and other cases, the robot 100 can be configured to ambulate via the legs

120 a , 120 b , such as bipedally. FIGS. 4 - 15 show selected features of the arms

118 a , 118 b and legs

120 a , 120 b in greater detail. In particular, FIGS. 4 - 7 are perspective views of the arms

118 a , 118 b and legs

120 a , 120 b , respectively. FIGS. 8 - 11 are silhouette views of the arms

118 a , 118 b and legs

120 a , 120 b , respectively. Finally, FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the arms

118 a , 118 b and legs

120 a , 120 b , respectively. In FIGS. 12 - 15 , lines represent links, filled circles represent active joints, and open circles represent inactive joints.

With reference to FIGS. 1 - 15 together, the arms

118 a , 118 b can define respective arm lengths 122 a , 122 b extending from the torso 104 . For clarity of illustration, the arm lengths 122 a , 122 b are only indicated in FIGS. 8 and 9 , respectively. The arms

118 a , 118 b can have respective proximal end portions

124 a , 124 b and respective distal end portions

126 a , 126 b at opposite ends of the respective arm lengths 122 a , 122 b . The arms

118 a , 118 b can be connected to the torso 104 via the respective proximal end portions

124 a , 124 b thereof and the superior portion 106 of the torso 104 . Similar to the arms

118 a , 118 b , the legs

120 a , 120 b can define respective leg lengths

128 a , 128 b extending from the torso 104 . For clarity of illustration, the leg lengths

128 a , 128 b are only indicated in FIGS. 10 and 11 , respectively. The legs

120 a , 120 b can have respective proximal end portions

130 a , 130 b and respective distal end portions

132 a , 132 b at opposite ends of the respective leg lengths

128 a , 128 b . The legs

120 a , 120 b can be connected to the torso 104 via the respective proximal end portions

130 a , 130 b thereof and the inferior portion 108 of the torso 104 .

The arms

118 a , 118 b and the legs

120 a , 120 b can define kinematic chains. In at least some cases, the kinematic chains corresponding to the arms

118 a , 118 b provide at least five degrees of freedom, such as exactly five or exactly six degrees of freedom. In these and other cases, the kinematic chains corresponding to the legs

120 a , 120 b can provide at least four degrees of freedom, such as exactly four, exactly five, or exactly six degrees of freedom. The robot 100 can include links at progressively more distal (i.e., lower) levels within the kinematic chains corresponding to the arms

118 a , 118 b and the legs

120 a , 120 b and at progressively more distal (i.e., farther) positions along the arm lengths 122 a , 122 b and the leg lengths

128 a , 128 b . As parts of the arms

118 a , 118 b , the robot 100 can include proximal shoulder links

134 a , 134 b , distal shoulder links

136 a , 136 b , upper arm links 138 a , 138 b , elbow links

140 a , 140 b , lower arm links

142 a , 142 b , and wrist links

144 a , 144 b . Similarly, as parts of the legs

120 a , 120 b , the robot 100 can include proximal hip links

146 a , 146 b , distal hip links

148 a , 148 b , proximal thigh links

150 a , 150 b , distal thigh links

152 a , 152 b , and calf links

154 a , 154 b.

As further parts of the arms

118 a , 118 b , the robot 100 can include end effectors

156 a , 156 b opposite to the proximal end portions

124 a , 124 b along the arm lengths 122 a , 122 b and distal to the wrist links 144 a , 144 b . As further parts of the legs

120 a , 120 b , the robot 100 can include feet

158 a , 158 b opposite to the proximal end portions

130 a , 130 b along the leg lengths

128 a , 128 b and distal to the calf links 154 a , 154 b . The end effectors

156 a , 156 b can be at distalmost positions along the arm lengths 122 a , 122 b . Similarly, the feet

158 a , 158 b can be at distalmost positions along the leg lengths

128 a , 128 b . In the illustrated embodiment, the end effectors

156 a , 156 b and the feet

158 a , 158 b are not articulated. In other embodiments, counterparts of some or all of the end effectors

156 a , 156 b and the feet

158 a , 158 b can be articulated, such as with one or more movable fingers or toes.

With reference again to FIGS. 1 - 15 , the robot 100 can include arm joints 160 (individually identified as arm joints 160 a - 160 n ) as parts of the arms

118 a , 118 b . The arm joints 160 a - 160 n can be disposed between neighboring links within the kinematic chains corresponding to the arms

118 a , 118 b and at opposite ends of these kinematic chains. For clarity of illustration, the arm joints 160 are only indicated in FIGS. 12 and 13 . The robot 100 can further include leg joints 162 (individually identified as leg joints 162 a - 1621 ) as parts of the legs

120 a , 120 b . Similar to the arm joints 160 a - 160 n , the leg joints 162 a - 1621 can be disposed between neighboring links within the kinematic chains corresponding to the legs

120 a , 120 b and at opposite ends of these kinematic chains. For clarity of illustration, the leg joints 162 are only indicated in FIGS. 14 and 15 . The arm joints 160 a - 160 n and the leg joints <b

CLAIMS

Claims ( 20 )

We claim:

1. A method of using a robot having arms to move an object from a support surface, the object defining an object width and having a first side surface, a second side surface spaced apart from the first side surface along the object width, and a bottom surface extending between the first and second side surfaces, the method comprising:

contacting a gripper of a first one of the arms and the first side surface of the object;

contacting a gripper of a second one of the arms and the second side surface of the object;

applying force from the first one of the arms on the object via a rolling frictional interface between a convex gripping surface of the gripper of the first one of the arms and the first side surface of the object, wherein applying force from the first one of the arms on the object at least partially causes:

relative rotation between the object and the gripper of the first one of the arms, the object to rotate in a first direction relative to the support surface, and

the first side surface of the object to move away from the support surface; and

applying force from the second one of the arms on the object via a rolling frictional interface between a convex gripping surface of the gripper of the second one of the arms and the second side surface of the object, wherein applying force from the second one of the arms on the object at least partially causes:

relative rotation between the object and the gripper of the second one of the arms, the object to rotate in a second direction opposite to the first direction, and

the second side surface of the object to move away from the support surface.

2. The method of claim 1 , wherein the object is a cardboard box.

3. The method of claim 1 , wherein the first and second directions are within 10 degrees of perpendicular to the support surface.

4. The method of claim 1 , further comprising:

contacting an end effector of the first one of the arms and the bottom surface of the object after the first side surface of the object moves away from the support surface;

contacting an end effector of the second one of the arms and the bottom surface of the object after the second side surface of the object moves away from the support surface; and

at least partially supporting a weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms while the end effector of the first one of the arms and the end effector of the second one of the arms are in contact with the bottom surface of the object.

5. The method of claim 4 , further comprising moving the object by bipedal locomotion using legs of the robot while at least partially supporting the weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms.

6. The method of claim 4 , wherein:

a coefficient of friction between the gripper of the first one of the arms and the first side surface of the object while applying force from the first one of the arms on the object is greater than a coefficient of friction between the end effector of the first one of the arms and the bottom surface of the object while at least partially supporting the weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms; and

a coefficient of friction between the gripper of the second one of the arms and the second side surface of the object while applying force from the second one of the arms on the object is greater than a coefficient of friction between the end effector of the second one of the arms and the bottom surface of the object while at least partially supporting the weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms.

7. The method of claim 1 , wherein:

the first and second ones of the arms individually define an arm length extending from a body of the robot;

the first and second ones of the arms individually include an end effector distal to the gripper along the arm length;

the method further comprises rotating the end effector of the first one of the arms relative to the gripper of the first one of the arms after the first side surface of the object moves away from the support surface; and

rotating the end effector of the first one of the arms at least partially causes the end effector of the first one of the arms to move into contact with the bottom surface of the object.

8. The method of claim 7 , wherein rotating the end effector of the first one of the arms relative to the gripper of the first one of the arms includes rotating the end effector of the first one of the arms relative to the gripper of the first one of the arms before the object rotates in the second direction.

9. The method of claim 8 , further comprising rotating the end effector of the second one of the arms relative to the gripper of the second one of the arms after the second side surface of the object moves away from the support surface, wherein rotating the end effector of the second one of the arms at least partially causes the end effector of the second one of the arms to move into contact with the bottom surface of the object.

10. The method of claim 1 , wherein:

the first and second ones of the arms individually define an arm length extending from a body of the robot;

the first and second ones of the arms individually include:

an end effector distal to the gripper along the arm length,

a wrist link carrying the gripper proximal to the end effector along the arm length, and

a lower arm link proximal to the wrist link along the arm length; and

the method further comprises rotating the wrist link of the first one of the arms relative to the lower arm link of the first one of the arms after the first side surface of the object moves away from the support surface.

11. The method of claim 10 , wherein rotating the wrist link of the first one of the arms relative to the lower arm link of the first one of the arms includes rotating the wrist link of the first one of the arms relative to the lower arm link of the first one of the arms before the object rotates in the second direction.

12. The method of claim 11 , further comprising rotating the wrist link of the second one of the arms relative to the lower arm link of the second one of the arms after the second side surface of the object moves away from the support surface.

13. A method of using a robot having arms to move an object from a support surface, the object defining an object width and having a first side surface, a second side surface spaced apart from the first side surface along the object width, and a bottom surface extending between the first and second side surfaces, the method comprising:

contacting a gripper of a first one of the arms and the first side surface of the object;

contacting a gripper of a second one of the arms and the second side surface of the object;

applying force from the first one of the arms on the object via a rolling frictional interface between a convex gripping surface of the gripper of the first one of the arms and the first side surface of the object and simultaneously applying force from the second one of the arms on the object via a rolling frictional interface between a convex gripping surface of the gripper of the second one of the arms and the second side surface of the object, wherein simultaneously applying force from the first one of the arms on the object and applying force from the second one of the arms on the object at least partially causes:

relative rotation between the object and the gripper of the first one of the arms, relative rotation between the object and the gripper of the second one of the arms, and

the object to move away from the support surface; and

moving an end effector of the first one of the arms and an end effector of the second one of the arms into contact with the bottom surface of the object after the object moves away from the support surface.

14. The method of claim 13 , wherein:

the first and second ones of the arms individually include a wrist link carrying the gripper;

for the first and second ones of the arms individually, the wrist link is separated from the end effector by one degree of freedom;

moving the end effector of the first one of the arms into contact with the bottom surface of the object includes rotating the end effector of the first one of the arms relative to the wrist link of the first one of the arms; and

moving the end effector of the second one of the arms into contact with the bottom surface of the object includes rotating the end effector of the second one of the arms relative to the wrist link of the second one of the arms.

15. The method of claim 13 , wherein:

the first and second ones of the arms individually define an arm length extending from a body of the robot;

the first and second ones of the arms individually include:

a wrist link carrying the gripper proximal to the end effector along the arm length, and

a lower arm link proximal to the wrist link along the arm length;

moving the end effector of the first one of the arms into contact with the bottom surface of the object includes rotating the end effector of the first one of the arms relative to the lower arm link of the first one of the arms; and

moving the end effector of the second one of the arms into contact with the bottom surface of the object includes rotating the end effector of the second one of the arms relative to the lower arm link of the second one of the arms.

16. The method of claim 13 , further comprising at least partially supporting a weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms while the end effector of the first one of the arms and the end effector of the second one of the arms are in contact with the bottom surface of the object.

17. The method of claim 16 , further comprising moving the object by bipedal locomotion using legs of the robot while at least partially supporting the weight of the object via the end effectors.

18. The method of claim 16 , wherein:

a coefficient of friction between the gripper of the first one of the arms and the first side surface of the object while applying force from the first one of the arms on the object is greater than a coefficient of friction between the end effector of the first one of the arms and the bottom surface of the object while at least partially supporting the weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms; and

a coefficient of friction between the gripper of the second one of the arms and the second side surface of the object while applying force from the second one of the arms on the object is greater than a coefficient of friction between the end effector of the second one of the arms and the bottom surface of the object while at least partially supporting the weight of the object via the end effector of the first one of the arms and the end effector of the second one of the arms.

19. The method of claim 1 , wherein the object is a plastic tote.

20. The method of claim 13 , further comprising lessening inward force exerted on the object via the rolling frictional interfaces after moving the end effector of the first one of the arms and the end effector of the second one of the arms into contact with the bottom surface of the object.

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