US 12,440,980 B1
Robotic manipulation with bimanual and nonprehensile aspects and related technology
Martin Fevre, Pittsburgh, PA (US); Tyler Morrison, Pittsburgh, PA (US); Taylor Apgar, Portland, OR (US); and Alejandro Perez, Manchester, NH (US)
Assigned to Agility Robotics, Inc., Pittsburgh, PA (US)
Filed by Agility Robotics, Inc., Pittsburgh, PA (US)
Filed on Mar. 22, 2023, as Appl. No. 18/187,976.
Claims priority of provisional application 63/487,596, filed on Feb. 28, 2023.
Int. Cl. B25J 9/00 (2006.01); B25J 5/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 5/00 (2013.01); B25J 9/104 (2013.01); B25J 9/106 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
moving a robot along a floor toward a support carrying an object, wherein the support is elevated relative to the floor;
moving, by the robot, the object toward a body of the robot while the object is in contact with the support and while allowing the object to move independently relative to the robot with at least one degree of freedom, wherein the object defines a width, wherein moving the object toward the body includes exerting, by the robot, force on the object via friction at pulling interfaces between opposing arms of the robot and respective side portions of the object spaced apart from one another along the width of the object;
lifting, by the robot, the object from the support after moving the object toward the body, wherein lifting the object from the support includes exerting, by the robot, force on the object via lifting interfaces between the arms and the respective side portions of the object, and wherein lifting the object from the support includes exerting, by the robot, force on the object via ledge-type mechanical engagement between the arms and the object at the lifting interfaces; and
carrying, by the robot, the object away from the support after lifting the object from the support.