US 12,472,641 B1
Generating references for robot-carried objects and related technology
Yaadhav Raaj, Beaverton, OR (US); and Juan Fernando Medrano Yax, Guatemala (GT)
Assigned to Agility Robotics, Inc., Salem, OR (US)
Filed by Agility Robotics, Inc., Pittsburgh, PA (US)
Filed on Nov. 13, 2023, as Appl. No. 18/507,463.
Claims priority of provisional application 63/589,578, filed on Oct. 11, 2023.
Claims priority of provisional application 63/584,068, filed on Sep. 20, 2023.
Int. Cl. B25J 13/08 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 13/089 (2013.01) [B25J 9/0006 (2013.01); B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 13/082 (2013.01); B25J 13/085 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
retrieving, by a mobile robot, an object from a starting location;
carrying, by the mobile robot, the object away from the starting location after retrieving the object and while the object is in a first carrying position and supported between a first end effector and a second end effector of the mobile robot, wherein the mobile robot includes a first arm proximally connected to a body of the mobile robot and distally carrying the first end effector, and wherein the mobile robot further includes a second arm proximally connected to the body and distally carrying the second end effector;
generating, by data-processing hardware operably associated with the mobile robot, a first object reference corresponding to a pose of the object at a first time after retrieving the object and while the object is in a second carrying position in which the object is supported between the first end effector and the second end effector and in which the first and second arms are more extended than in the first carrying position, wherein generating the first object reference includes:
moving, by the mobile robot, the object from the first carrying position to the second carrying position,
receiving, at the data-processing hardware, first perception data corresponding to the object at the first time and after moving the object from the first carrying position to the second carrying position,
generating the first object reference based at least partially on the first perception data, and moving the object from the second carrying position to the first carrying position after moving the object from the first carrying position to the second carrying position; and
generating, by the data-processing hardware, a second object reference corresponding to a pose of the object at a second time after the first time and while the object is in the second carrying position, wherein generating the second object reference includes:
moving, by the mobile robot, the object from the first carrying position to the second carrying position again,
receiving, at the data-processing hardware, second perception data corresponding to the object at the second time and after moving the object from the first carrying position to the second carrying position again,
generating, by the data-processing hardware, the second object reference based at least partially on the second perception data, and
moving the object from the second carrying position to the first carrying position again after moving the object from the first carrying position to the second carrying position again.