US 12,138,807 B2
Robotic system to control multiple robots to perform a task cooperatively
Zhouwen Sun, Redwood City, CA (US); Talbot Morris-Downing, Redwood City, CA (US); Harry Zhe Su, Union City, CA (US); Rohun Kulkarni, Palo Alto, CA (US); Kevin Jose Chavez, Redwood City, CA (US); Samir Menon, Atherton, CA (US); Toby Leonard Baker, Redwood City, CA (US); David Leo Tondreau, III, San Francisco, CA (US); and Robert Holmberg, Mountain View, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Aug. 16, 2023, as Appl. No. 18/234,825.
Application 18/234,825 is a continuation of application No. 17/978,600, filed on Nov. 1, 2022, granted, now 11,772,269.
Claims priority of provisional application 63/274,461, filed on Nov. 1, 2021.
Prior Publication US 2024/0042613 A1, Feb. 8, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/0087 (2013.01); B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); B25J 15/0616 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a communication interface associated with a first robot having a first end effector, the communication interface configured to:
receive from a second robot an indication to begin a cooperative task of moving an object in a follower mode of operation; and
receive from the second robot an end effector position and orientation of a second end effector associated with the second robot relative to the object associated with the cooperative task; and
a processor associated with the first robot coupled to the communication interface and configured to:
determine a first grasp point for the object based on a second grasp point at which the second robot has indicated it will grasp the object;
cause a robotic arm of the first robot having the first end effector to move to the first grasp point to grasp the object; and
compute a new target position and orientation for the first end effector based in part on the received end effector position and the received orientation information of the second end effector of the second robot relative to the object associated with the cooperative task and information about the object associated with the cooperative task.