公开(公告)号：US10336150B1

公开(公告)日：2019-07-02

申请号：US15368418

申请日：2016-12-02

Applicant: Amazon Technologies, Inc.

Inventor： Gabriel Hebert ,  Erica Aduh ,  Peter Thomas Colantonio ,  Parris S. Wellman

IPC: B60P1/00 ,  B60P5/00 ,  G05B13/00 ,  B60G17/019 ,  G05B19/042

Abstract: Payload properties may be determined utilizing actuator parameter data. A mobile drive unit may transport a payload around a workspace in accordance with one or more safety. To comply with safety policies, a motion controller of the mobile drive unit may limit acceleration and deceleration to safe maximums for given payload characteristics such as payload mass and payload center of gravity. The motion controller may utilize actuators to cause various motions of the mobile drive unit, including motion across a surface, vertical movements of the payload and motion rotating the payload. To ameliorate worst case assumptions about payload characteristics, in accordance with at least one embodiment of the invention, a payload characterization module may obtain information about payload characteristics based on measurements of operational parameters of the actuators. Utilizing motor current data provides a relatively inexpensive mechanism for obtaining such information compared to special purpose sensors, enabling widespread adoption.

公开(公告)号：US10953551B1

公开(公告)日：2021-03-23

申请号：US16201382

申请日：2018-11-27

Applicant: Amazon Technologies, Inc.

Inventor： Erica Aduh ,  Gregory Coleman ,  Andrew Marchese ,  Beth Marcus ,  Manikantan Nambi

IPC: B25J15/00 ,  B25J15/06 ,  B25J15/12

Abstract: A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.

公开(公告)号：US11630027B1

公开(公告)日：2023-04-18

申请号：US17191371

申请日：2021-03-03

Applicant: Amazon Technologies, Inc.

Inventor： Erica Aduh ,  Jude Jonas ,  Kristine Bunker-Moore ,  Michel Bruehwiler

IPC: G01M13/027 ,  G01L5/16 ,  G01L25/00

Abstract: Systems and methods to test robotic end effectors may comprise a testing rig having variable mass properties. The testing rig may include a variable weight assembly and a movement assembly that can adjust a position or orientation of the variable weight assembly. In this manner, the testing rig can be modified to simulate or replicate mass properties of a plurality of items, and grasp performance of a robotic end effector may be measured using the testing rig. Further, simulation models of end effectors and items may be validated based on actual grasp performance of a robotic end effector and the testing rig having variable mass properties.

公开(公告)号：US10913165B1

公开(公告)日：2021-02-09

申请号：US16586568

申请日：2019-09-27

Applicant: Amazon Technologies, Inc.

Inventor： Jude Jonas ,  Bertan Atamer ,  Gregory Thomas Merlino ,  Gregory Coleman ,  Robert Kevin Katzschmann ,  Erica Aduh ,  Manikantan Nambi ,  Beth A. Marcus ,  Kristin Covelle ,  Areej Pirzada

IPC: B25J15/06 ,  B65G47/91

Abstract: Examples described herein are directed to an item manipulation system that includes an end of arm tool. The end of arm tool includes a suction manifold including multiple independently controllable asymmetrical suction zones. The end of arm tool is also configured to rotate about a tool axis to selectively align the independently controllable asymmetrical suction zones with target items for manipulation.

公开(公告)号：US11938617B1

公开(公告)日：2024-03-26

申请号：US17145987

申请日：2021-01-11

Applicant: Amazon Technologies, Inc.

Inventor： Jude Jonas ,  Bertan Atamer ,  Gregory Thomas Merlino ,  Gregory Coleman ,  Robert Kevin Katzschmann ,  Erica Aduh ,  Manikantan Nambi ,  Beth A. Marcus ,  Kristin Covelle ,  Areej Pirzada

IPC: B25J15/06 ,  B65G47/91

CPC classification number: B25J15/0683 ,  B65G47/91

Abstract: Examples described herein are directed to methods, computer-readable media, and systems for controlling an end of arm tool with one or more suction zones to pick up an item. Sensor data regarding the item is obtained. The sensor data is used to determine which of the one or more suction zones should be used to pick up the item. A rotational orientation is also determined that orients the determined suction zone(s) with the item. The end of arm tool is then instructed to create a suction force at the one or more suction zones and to pick up the item using the suction force.

公开(公告)号：US11247347B2

公开(公告)日：2022-02-15

申请号：US16799600

申请日：2020-02-24

Applicant: Amazon Technologies, Inc.

Inventor： Parris S. Wellman ,  Beth A. Marcus ,  Gregory Coleman ,  Manikantan Nambi ,  Erica Aduh ,  Timothy G. Dietz ,  Leonard Thomas Lilliston, III ,  Margaret Jean Williams George ,  Jonas Eichenberger ,  Mathias Moser ,  Dominique Ernst ,  Ueli Schlaepfer

IPC: B25J15/00 ,  B25J15/06 ,  B25J9/16 ,  B25J9/12 ,  B25J9/00

Abstract: Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.