# US 12,214,490 B2 · Robotic article managing end effector with capture device having discrete compliant rods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,490 B2 - Document ID: US12214490B2 - Status: Granted - Kind: B2 - Application number: 18/414,314 - Filed: 2024-01-16 - Published: 2024-08-08 - Granted: 2025-02-04 - Earliest claimed: 2023-01-14 - Assignees: Sarcos Corp. - Applicants: Sarcos Corp. - Inventors: Fraser M. Smith - Web page: https://patentgrep.com/patent/US12214490B2 ## CPC - B25J 15/0095: {with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations} - B25J 15/0253: {comprising parallel grippers} - B25J 11/00: Manipulators not otherwise provided for - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 15/0019: {End effectors other than grippers} - B25J 15/0038: {Cylindrical gripping surfaces} - B25J 15/009: {with pins for accurately positioning the object on the gripping head} - B25J 15/0616: {with vacuum} - B25J 17/00: Joints - B25J 18/025: {telescopic} - B25J 19/02: Sensing devices - B65G 47/90: Devices for picking-up and depositing articles or materials - B65G 2201/0264: Luggage - B65G 2203/0283: Position of the load carrier - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device. ## Claims ### Claim 1 A robotic end effector for acquiring and managing an article, the robotic end effector comprising: an extendable arm comprising a first support member; a capture device comprising: a guide member comprising a plurality of apertures extending through the guide member from a back surface to a front surface of the guide member; an array of rods with each rod disposed in a respective aperture of the plurality of apertures, wherein each rod of the array of rods is slidably supported so as to be operable to move relative to the guide member; and a biasing member associated with one or more rods of the array of rods and being configured to bias the one or more rods in a first direction relative to the guide member; an article interface system supported by the extendable arm, and comprising an actuatable article engagement device that itself comprises an article interface surface, the actuatable article engagement device being operable to interface with an article to facilitate movement of the article toward the capture device. ### Claim 2 (depends on 1) The robotic end effector of claim 1, wherein each rod is coupled to the guide member via the biasing member. ### Claim 3 (depends on 1) The robotic end effector of claim 1, wherein the biasing member comprises a spring associated with the one or more rods. ### Claim 4 (depends on 1) The robotic end effector of claim 1, further comprising a plurality of biasing members each associated with one or more rods of the array of rods and configured to bias the one or more rods of the array of rods in the extended position relative to the guide member. ### Claim 5 (depends on 4) The robotic end effector of claim 4, wherein one or more biasing members of the plurality of biasing members comprises a spring associated with one or more rods of the array of rods. ### Claim 6 (depends on 1) The robotic end effector of claim 1, wherein the capture device further comprises a support base having a support surface, the support base being positioned adjacent the guide member and operable to constrain movement of the rods. ### Claim 7 (depends on 6) The robotic end effector of claim 6, wherein each rod is supported by the support base via the biasing member. ### Claim 8 (depends on 6) The robotic end effector of claim 6, wherein the capture device further comprises at least one wall extending from the support base to define an opening and a volumetric interior of the capture device. ### Claim 9 (depends on 8) The robotic end effector of claim 8, wherein the guide member is disposed within the volumetric interior of the capture device. ### Claim 10 (depends on 8) The robotic end effector of claim 8, wherein one or more rods of the array of rods comprises at least a portion that extends beyond the at least one wall to an outside of the volumetric interior. ### Claim 11 (depends on 6) The robotic end effector of claim 6, wherein the biasing member comprises a compliant element disposed between the guide member and the support base, the compliant element being configured to bias one or more rods of the array of rods in the first direction. ### Claim 12 (depends on 6) The robotic end effector of claim 6, wherein the biasing member comprises a spring associated with the one or more rods and coupling the one or more rods to at least one of the support base or the guide member. ### Claim 13 (depends on 1) The robotic end effector of claim 1, wherein the article interface system further comprises an articulating arm moveably coupled to the first support member of the extendable arm at a first actuatable joint, the first actuatable joint being operable to facilitate movement of the articulating arm and the article engagement device relative to the first support member in at least one degree of freedom, wherein the actuatable article engagement device is supported from the articulating arm. ### Claim 14 (depends on 13) The robotic end effector of claim 13, wherein the articulating arm of the article interface system is positionable in a first position to facilitate displacement of the article to apply a first stage engagement force between the article and the capture device, and is positionable in a second position to facilitate displacement of the article to apply a second stage engagement force between the article and the capture device. ### Claim 15 (depends on 14) The robotic end effector of claim 14, wherein the first position of the article interface system is along a top surface of the article, and wherein the second position is along a rear surface of the article. ### Claim 16 (depends on 14) The robotic end effector of claim 14, wherein a state of acquisition of the article is achieved when the forces acting on the article from the end effector are sufficient to counter collective forces acting on the article. ### Claim 17 (depends on 14) The robotic end effector of claim 14, further comprising one or more load sensors associated with one or more rods of the array of rods and operable to measure a engagement force acting on the article. ### Claim 18 (depends on 17) The robotic end effector of claim 17, wherein the article interface system is configured to transition from the first position to the second position upon one or more load sensors measuring a threshold first stage engagement force as the article is caused to engage the capture device. ### Claim 19 (depends on 18) The robotic end effector of claim 18, wherein the extendable arm and the article interface system are configured to maintain the threshold first stage engagement force by causing the article engagement device to maintain contact with the article as the article interface system transitions from the first position to the second position. ### Claim 20 (depends on 17) The robotic end effector of claim 17, wherein a state of acquisition of the article is achieved upon one or more load sensors measuring a predetermined threshold of the second stage engagement force where the forces acting on the article from the end effector are sufficient to counter collective forces acting on the article. ### Claim 21 (depends on 17) The robotic end effector of claim 17, wherein the one or more load sensors comprises a plurality of load sensors, each being associated with a respective rod of the array of rods, and each operable to measure a engagement force acting on the article. ### Claim 22 (depends on 14) The robotic end effector of claim 14, wherein the article interface system is operable to transition from an initial position to the first position at a first velocity and is operable to transition from the first position to the second position at a second velocity that is greater than the first velocity. ### Claim 23 (depends on 14) The robotic end effector of claim 14, wherein the actuatable article engagement device comprises one or more powered rollers, and wherein the actuatable article engagement device is operable such that, upon transition from the first position to the second position, the one or more powered rollers are locked to prevent movement of the one or more powered rollers relative to the article. ### Claim 24 (depends on 14) The robotic end effector of claim 14, wherein the actuatable article engagement device is supported from the articulating arm, and wherein the actuatable article engagement device is operable such that, upon transition from the first position to the second position, the articulating arm is locked to prevent movement of the articulating arm about the first actuatable joint. ### Claim 25 (depends on 14) The robotic end effector of claim 14, further comprising one or more position sensors associated with one or more of: one or more rods of the array of rods, the position sensor being operable to measure a displacement of one or more rods relative to the guide member; and the capture device, the position sensor being operable to measure a displacement of one or more rods relative to the guide member or the target article relative to the capture device. ### Claim 26 (depends on 25) The robotic end effector of claim 25, wherein the article interface system is configured to transition from the first position to the second position upon one or more position sensors measuring a threshold first stage displacement as the article is caused to engage the capture device. ### Claim 27 (depends on 25) The robotic end effector of claim 25, wherein a state of acquisition of the article is achieved upon one or more position sensors measuring a predetermined threshold of the second stage displacement indicating sufficient displacement of one or more of the rods or the article to counter collective forces acting on the article. ### Claim 28 (depends on 1) The robotic end effector of claim 1, wherein the guide member comprises a plurality of interior surfaces each defining one of the plurality of apertures, wherein each of the interior surfaces are positioned adjacent to an outer perimeter surface of a respective rod of the array of rods to provide lateral support for the respective rod disposed in the respective aperture. ### Claim 29 (depends on 1) The robotic end effector of claim 1, wherein at least some of the array of rods at least partially comprise a rigid material. ### Claim 30 (depends on 1) The robotic end effector of claim 1, wherein each rod of the rod array comprises: an extended position, in which an end surface of the rod is positioned at a distal position relative to the guide member and the rod is constrained from further extending away from the guide member; and a depressed position, in which the rod is at least partially depressed relative to the guide member such that the end surface of the rod is positioned closer to the guide member than at the distal position. ### Claim 31 (depends on 30) The robotic end effector of claim 30, wherein each rod of the array of rods is configured to transition from the extended position to the depressed position upon application of an applied load to the end surface of the rod. ### Claim 32 (depends on 31) The robotic end effector of claim 31, wherein each rod of the array of rods is configured to transition from the extended position to the depressed position independent of other rods of the array of rods such that, under application of an applied load by the article to at least one of the array of rods, one or more depressed rods in the depressed position provide lateral support to the article and are offset from one or more extended rods in the extended position. ### Claim 33 (depends on 32) The robotic end effector of claim 32, wherein, under application of the applied load by the article to at least one of the plurality of rods, the one or more extended rods positioned adjacent to the one or more depressed rods operate to provide captured support to the article via respective outer perimeter surfaces of the one or more extended rods. ### Claim 34 (depends on 1) A robotic system for acquiring and managing an article, the robotic system comprising: a robot comprising a robotic end effector interface; and the robotic end effector of claim 1 supported on the robotic end effector interface of the robot. ### Claim 35 A method for acquiring an article, the method comprising: ensuring the article and a robotic end effector for acquiring and managing the article are in proximity with each other, the robotic end effector comprising an extendable arm having a first support member and a capture device comprising: a guide member comprising a plurality of apertures extending through the guide member from a back surface to a front surface of the guide member; an array of rods with each rod disposed in a respective aperture of the plurality of apertures, wherein each rod of the array of rods is slidably supported so as to be operable to move relative to the guide member; and a biasing member associated with one or more rods of the array of rods and being configured to bias the one or more rods in a first direction relative to the guide member; operating an article interface system supported by the extendable arm, the article interface system that itself comprises an actuatable article engagement device comprising an article interface surface, the actuatable article engagement device being operable to interface with an article to facilitate movement of the article toward the array of rods, wherein operating the article interface system comprises: moving the actuatable article engagement device from an initial position to a first position relative to the article in which the article interface surface engages with the article; actuating the actuatable article engagement device to move the article against one or more rods of the array of rods to slide the one or more rods in respective apertures until a state of acquisition is achieved, in which the forces acting on the article from the end effector are sufficient to counter collective forces acting on the article. ### Claim 36 (depends on 35) The method of claim 35, further comprising extending the extendable arm toward the article by extending a first link of the extendable arm relative to a second link of the extendable arm in a linear degree of freedom, wherein the first link and the second link are coupled to one another at an actuatable joint. ### Claim 37 (depends on 35) The method of claim 35, wherein the actuatable article engagement device comprises an articulating arm moveably coupled to the first support member of the extendable arm at a first actuatable joint, the first actuatable joint being operable to facilitate relative movement between the first support member and the articulating arm in at least one degree of freedom, and the method further comprising operating the first actuatable joint to position the articulating arm relative to the first support member to position the article interface system in a first position in which the article interface surface engages with the article. ### Claim 38 (depends on 37) The method of claim 37, further comprising actuating the articulating arm to apply a first stage engagement force to the article with the article interface system in the first position. ### Claim 39 (depends on 38) The method of claim 38, wherein the actuatable article engagement device further comprises one or more powered rollers movably coupled to the articulating arm, wherein the article interface surface comprises at least one surface of the one or more rollers, and the method further comprises driving the one or more powered rollers to apply the first stage engagement force to the article. ### Claim 40 (depends on 38) The method of claim 38, further comprising operating the first actuatable joint to position the articulating arm relative to the first support member to position the article interface system in a second position. ### Claim 41 (depends on 40) The method of claim 40, further comprising actuating the articulating arm to apply a second stage engagement force to the article with the article interface system in the second position. ### Claim 42 (depends on 41) The method of claim 41, further comprising: measuring an engagement force acting on the article with one or more load sensors associated with one or more rods of the array of rods. ### Claim 43 (depends on 42) The method of claim 42, wherein the first position of the article interface system is along a top surface of the article, and wherein the second position is along a rear surface of the article. ### Claim 44 (depends on 43) The method of claim 43, further comprising transitioning the article interface system from the first position to the second position upon one or more load sensors measuring a threshold first stage engagement force as the article is caused to engage the capture device. ### Claim 45 (depends on 44) The method of claim 44, further comprising: maintaining the threshold first stage engagement force by maintaining contact between the article interface surface and the article as the article interface system transitions from the first position to the second position. ### Claim 46 (depends on 44) The method of claim 44, wherein the actuatable article engagement device further comprises one or more powered rollers movably coupled to the articulating arm, wherein the article interface surface comprises at least one surface of the one or more rollers, and wherein the method further comprises locking in position the one or more powered rollers to prevent movement of the one or more powered rollers relative to the articulating arm upon transition from the first position to the second position. ### Claim 47 (depends on 44) The method of claim 44, further comprising locking the articulating arm in position to prevent movement of the articulating arm about the first actuatable joint upon transition from the first position to the second position. ### Claim 48 (depends on 42) The method of claim 42, further comprising: determining a state of acquisition of the article is achieved, in which the forces acting on the article from the end effector are sufficient to counter collective forces acting on the article, upon at least one load sensor of the one or more load sensors measuring a predetermined threshold of the second stage engagement force. ### Claim 49 (depends on 41) The method of claim 41, further comprising at least one of: measuring a displacement of one or more rods relative to the guide member with one or more position sensors associated with one or more of the rods; or measuring a displacement of the target article relative to the capture device with one or more position sensors associated with the target device. ### Claim 50 (depends on 49) The method of claim 49, further comprising transitioning the article interface system from the first position to the second position upon one or more position sensors measuring a threshold first stage displacement as the article is caused to engage the capture device. ### Claim 51 (depends on 49) The method of claim 49, further comprising determining a state of acquisition of the article is achieved upon one or more position sensors measuring a predetermined threshold of the second stage displacement indicating sufficient displacement of one or more of the rods or the article to counter collective forces acting on the article. ### Claim 52 (depends on 40) The method of claim 40, further comprising maintaining contact of the article interface surface with the article as the article interface system transitions from the first position to the second position. ### Claim 53 (depends on 40) The method of claim 40, wherein the first position of the article interface system is along a top surface of the article, and wherein the second position is along a rear surface of the article. ### Claim 54 (depends on 40) The method of claim 40, wherein the article interface system is operable to transition from the initial position to the first position at a first velocity and is operable to transition from the first position to the second position at a second velocity that is greater than the first velocity. ### Claim 55 (depends on 35) The method of claim 35, wherein actuating the actuatable article engagement device to move the article against one or more rods of the array of rods causes at least some rods of the array of rods to transition from an extended position to a depressed position; wherein the extended position is a position in which an end surface of the rod is positioned at a distal position relative to the guide member and the rod is constrained from further extending away from the guide member; and wherein the depressed position is a position in which the rod is at least partially depressed relative to the guide member such that the end surface of the rod is positioned closer to the guide member than at the distal position. ### Claim 56 (depends on 55) The method of claim 55, wherein, with the article engaged with the at least some rods, the at least some rods comprise one or more depressed rods in the depressed position and other rods of the plurality of rods comprise one or more extended rods in the extended position, wherein the one or more depressed rods provide lateral support to the article and are offset from the one or more extended rods in the extended position. ### Claim 57 (depends on 56) The method of claim 56, wherein, under application of the applied load by the article to the one or more depressed rods, the one or more extended rods positioned adjacent to the one or more depressed rods provide lateral support to the article by the outer perimeter surface of the one or more extended rods.