Robotic manipulators
AssigneeDextrous Robotics, Inc.
InventorsEvan Drumwright, Sam Zapolsky, Doug Schwandt, Jason Cortell
Life of this patent
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Abstract
A robot comprising: a chopstick, configured for at least four degrees of freedom of movement, a stiff body of shape and proportions approximate to a pool cue; an electromagnetic actuator, comprising a motor, for each degree of freedom of movement coupled with the stiff body, wherein the functional mapping from each actuator's motor current to torque output along an axis of motion is stored, and used in concert with a calibrated model of the robot for effective impedance control; and a 6-axis force/torque sensor mounted inline between the actuators and each chopstick.
Claims23
1-6. (canceled)
A robot for manipulation of heterogeneous cardboard boxes, comprising:
- a base;
- a first multi-axis robotic assembly mounted to the base, comprising:
- a first three-axis gantry mechanism;
- a first set of rotational actuation stages mounted to the three-axis gantry mechanism;
- a first tool comprising a first frictional grip surface which defines a first right conical frustum about a first central axis of the first tool and extends between a first proximal end and a first distal end of the tool, wherein the first distal end of the first tool comprises a first non-gripping surface;
- and
- a first force-torque sensor connecting the first tool to the first set of rotational actuation stages;
- and
- a second multi-axis robotic assembly mounted to the base, the second multi-axis robotic assembly offset from the first robotic assembly and mechanically decoupled from each axis of the first robotic assembly, the second multi-axis robotic assembly comprising:
- a second three-axis gantry mechanism;
- a second set of rotational actuation stages mounted to the three-axis gantry mechanism;
- a second tool comprising a second frictional grip surface which defines a second right conical frustum about a second central axis of the second tool and extends between a second proximal end and a second distal end of the tool, wherein the second distal end of the second tool comprises a second non-gripping surface;
- and
- a second force-torque sensor connecting the second tool to the second set of rotational actuation stages;
- and
- a controller communicatively coupled to the first and second multi-axis robotic assemblies and configured to generate instructions for the first and second robotic assemblies to grip cardboard boxes between the first and second frictional grip surfaces using an impedance control scheme based on measurements from the first and second force-torque sensors.
A robot for object manipulation, comprising:
- a base;
- a first and second robotic assembly each comprising:
- a tool comprising a frictional grip surface along a long axis of the tool and extends between a proximal end and a distal end of the tool,
- a force-torque sensor coupled to the tool;
- and
- at least three actuation stages arranged in series and cooperatively connecting the tool to the base;
- and
- a controller communicatively coupled to the first and second robotic assemblies and configured to generate instructions for the first and second robotic assemblies to grip objects between the frictional grip surfaces based on measurements from the force-torque sensors.
Dependencies are inferred from the claim text.