US 12,240,122 B2
Palletizing boxes
Neil Neville, Waltham, MA (US); Kevin Blankespoor, Arlington, MA (US); Jennifer Barry, Cambridge, MA (US); and Alexander Douglas Perkins, Arlington, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jul. 10, 2023, as Appl. No. 18/349,511.
Application 18/349,511 is a continuation of application No. 17/812,825, filed on Jul. 15, 2022, granted, now 11,738,456.
Application 17/812,825 is a continuation of application No. 16/816,927, filed on Mar. 12, 2020, granted, now 11,407,107, issued on Aug. 9, 2022.
Claims priority of provisional application 62/824,434, filed on Mar. 27, 2019.
Prior Publication US 2023/0347513 A1, Nov. 2, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); B65G 57/24 (2006.01)
CPC B25J 9/1661 (2013.01) [B25J 5/007 (2013.01); B25J 9/0096 (2013.01); B25J 9/1612 (2013.01); B25J 9/162 (2013.01); B25J 9/1697 (2013.01); B25J 15/0616 (2013.01); B65G 57/24 (2013.01)] 20 Claims
OG exemplary drawing
 
1. 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.