Palletizing boxes
AssigneeBoston Dynamics, Inc.
InventorsNeil Neville, Kevin Blankespoor, Jennifer Barry, Alexander Douglas Perkins
Life of this patent
Estimating the term…
Abstract
A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.
Claims20
A method of placing an object grasped by a mobile robot at a target location, the method comprising:
- receiving, from a sensor system of the mobile robot, sensor data;
- determining based, at least in part on the sensor data, a target object location and an initial position adjacent to the target object location;
- positioning, by the mobile robot, an object grasped by a suction gripper of the mobile robot at the initial position;
- tilting, by the mobile robot, the object at an angle relative to a ground plane;
- shifting, by the mobile robot, the object from the initial position toward an alignment position;
- and
- releasing, by the mobile robot, the object from the suction gripper of the mobile robot to pivot the object toward the target object location.
A mobile robot comprising:
- a mobile base;
- an arm coupled to the mobile base, the arm comprising a suction-based gripper configured to grasp an object;
- a sensor system comprising one or more sensors configured to sense objects in an environment of the mobile robot;
- data processing hardware;
- and
- memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
- determining based, at least in part, on sensor data received from the sensor system, a target object location and an initial position adjacent to the target object location;
- positioning an object grasped by the suction-based gripper at the initial position;
- tilting the object at an angle relative to a ground plane;
- shifting the object from the initial position toward an alignment position;
- and
- releasing the object from the suction-based gripper of the mobile robot to pivot the object toward the target object location.
Dependencies are inferred from the claim text.