Troy D Straszheim

US Patent:

20200078938, Mar 12, 2020

Filed:

Nov 18, 2019

Appl. No.:

16/687106

Inventors:

- Mountain View CA, US
Steve Croft - Palo Alto CA, US
Kurt Konolige - Menlo Park CA, US
Ethan Rublee - Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
John Zevenbergen - Palo Alto CA, US
Stefan Hinterstoisser - Palo Alto CA, US
Hauke Strasdat - Mountain View CA, US

International Classification:

B25J 9/16
G06T 7/55
G06K 9/62
G06K 9/32
G06K 9/00
B25J 19/00
G06T 19/00
B65G 41/00
B25J 5/00
B25J 9/00
H04N 5/33
G06T 7/60
G06K 9/52
G06K 9/46
G01B 11/25
B65G 47/50
B65G 47/46
B25J 19/02
H04N 13/239
G06T 17/00
G06T 7/13
G06T 7/593
G06T 7/529

Abstract:

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

US Patent:

20180307941, Oct 25, 2018

Filed:

Oct 9, 2017

Appl. No.:

15/727726

Inventors:

- Mountain View CA, US
Troy Straszheim - Mountain View CA, US

International Classification:

G06K 9/62
G01C 21/20

Abstract:

Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.

US Patent:

20180243904, Aug 30, 2018

Filed:

May 1, 2018

Appl. No.:

15/968323

Inventors:

- Mountain View CA, US
Steve Croft - Palo Alto CA, US
Kurt Konolige - Menlo Park CA, US
Ethan Rublee - Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
John Zevenbergen - Palo Alto CA, US
Stefan Hinterstoisser - Palo Alto CA, US
Hauke Strasdat - Mountain View CA, US

International Classification:

B25J 9/16
H04N 13/239
G06T 7/529
G06T 7/13
B25J 9/00
G06K 9/52
G01B 11/25
G06K 9/46

Abstract:

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

US Patent:

20170308096, Oct 26, 2017

Filed:

Jul 13, 2017

Appl. No.:

15/649080

Inventors:

- Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
John Zevenbergen - San Francisco CA, US
Ethan Rublee - Mountain View CA, US

International Classification:

G05D 1/02
B65G 1/137
B65G 57/03

Abstract:

Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

US Patent:

20170021502, Jan 26, 2017

Filed:

Oct 5, 2016

Appl. No.:

15/286237

Inventors:

- Mountain View CA, US
Ethan Rublee - Mountain View CA, US
Troy Donald Straszheim - Mountain View CA, US
Kevin William Watts - Palo Alto CA, US
John William Zevenbergen - Saratoga CA, US

International Classification:

B25J 9/16

Abstract:

Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

US Patent:

20160288324, Oct 6, 2016

Filed:

Jun 15, 2016

Appl. No.:

15/182881

Inventors:

- Mountain View CA, US
Steve Croft - Scotts Valley CA, US
Kurt Konolige - Menlo Park CA, US
Ethan Rublee - Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
John Zevenbergen - San Francisco CA, US

Assignee:

Industrial Perception, Inc. - Mountain View CA

International Classification:

B25J 9/16
B65G 47/46
B65G 41/00
B25J 5/00
B25J 9/00

Abstract:

Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.

US Patent:

20160221187, Aug 4, 2016

Filed:

Apr 7, 2016

Appl. No.:

15/093118

Inventors:

- Mountain View CA, US
Kurt Konolige - Menlo Park CA, US
Ethan Rublee - Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
Hauke Strasdat - Mountain View CA, US
Stefan Hinterstoisser - Palo Alto CA, US
Steve Croft - Palo Alto CA, US
John Zevenbergen - Palo Alto CA, US

International Classification:

B25J 9/16
B25J 19/02
B25J 9/00

Abstract:

Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

US Patent:

20160089791, Mar 31, 2016

Filed:

Dec 10, 2015

Appl. No.:

14/964724

Inventors:

- Mountain View CA, US
Kurt Konolige - Menlo Park CA, US
Ethan Rublee - Mountain View CA, US
Troy Straszheim - Palo Alto CA, US
Hauke Strasdat - Mountain View CA, US
Stefan Hinterstoisser - Palo Alto CA, US

International Classification:

B25J 9/16
B25J 9/00

Abstract:

Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.