	US 12,151,364 B2
	Systems and methods for acquiring and moving objects
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, MA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Oct. 29, 2023, as Appl. No. 18/384,874.
Application 18/384,874 is a continuation of application No. 17/744,068, filed on May 13, 2022, granted, now 11,865,699, issued on Jan. 9, 2024.
Application 17/744,068 is a continuation of application No. 17/073,693, filed on Oct. 19, 2020, granted, now 11,370,127, issued on Jun. 28, 2022.
Application 17/073,693 is a continuation of application No. 16/814,658, filed on Mar. 10, 2020, granted, now 11,318,623, issued on May 3, 2022.
Application 16/814,658 is a continuation of application No. 16/390,634, filed on Apr. 22, 2019, granted, now 10,850,402, issued on Dec. 1, 2020.
Application 16/390,634 is a continuation of application No. 15/992,841, filed on May 30, 2018, granted, now 10,335,956, issued on Jul. 2, 2019.
Application 15/992,841 is a continuation of application No. 15/371,921, filed on Dec. 7, 2016, granted, now 10,011,020, issued on Jul. 3, 2018.
Claims priority of provisional application 62/276,653, filed on Jan. 8, 2016.
Prior Publication US 2024/0208078 A1, Jun. 27, 2024
Int. Cl. B25J 15/00 (2006.01); B25J 15/06 (2006.01); B25J 15/10 (2006.01)

CPC B25J 15/0033 (2013.01) [B25J 15/0004 (2013.01); B25J 15/0023 (2013.01); B25J 15/0052 (2013.01); B25J 15/0095 (2013.01); B25J 15/0616 (2013.01); B25J 15/10 (2013.01); Y10S 901/40 (2013.01)]

21 Claims

1. A method of engaging and moving a plurality of objects using an articulated arm, said method comprising:

engaging a first object of the plurality of objects with a primary end-effector of a primary acquisition system that includes the primary end-effector and an end-effector base at which the primary acquisition system is coupled to the articulated arm;

moving the first object toward a secondary retention system, the secondary retention system being coupled to the end-effector base;

releasing the first object from the primary acquisition system to the secondary retention system;

engaging a second object of the plurality of objects with the primary end-effector;

moving the second object toward the secondary retention system;

releasing the second object from the primary acquisition system to the secondary retention system;

moving the secondary retention system with the first object and the second object; and

releasing the first object and the second object from the secondary retention system.