Robotic article handling end effector with capture device having a compliant material

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 operable with the extendable arm, and comprising:
• a support base comprising a base plate having a support surface;
• at least one wall extending from the base plate to define an opening and a volumetric interior;
• and
• a compliant material disposed within the volumetric interior;
• and
• 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.

A method for acquiring an article, the method comprising:

• locating the article and a robotic end effector for acquiring and managing the article in proximity with each other, the robotic end effector comprising:
• an extendable arm having a first support member and a second support member moveable relative to one another in a linear degree of freedom, an actuator operable to facilitate movement of the first and second support members relative to one another, and a capture device having a support base, wherein the first support member of the extendable arm is extendable relative to the capture device;
• operating an article interface system supported by the extendable arm, the article interface system 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, 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 toward the support base of the capture device 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.

A robotic end effector for handling baggage, the robotic end effector comprising:

• an extendable arm operable to move in a translating degree of freedom;
• a capture device comprising a support structure and at least one compliant element supported by the support structure;
• a rotating arm rotatably coupled to the extendable arm at a rotational joint;
• one or more powered rollers supported on the rotating arm operable to interface with a bag to facilitate movement of the bag toward the capture device;
• and
• a rotary actuator operable to rotate the rotating arm about a rotational degree of freedom to cause the powered rollers to exert a downward force on the bag,
• wherein the one or more powered rollers supported on the rotating arm are operable to move the bag towards the capture device.