A system comprising: a database configured to store a multi-body model of a robot, the robot comprising a plurality of manipulators, and a plurality of joints and plurality of actuators and actuator motors configured to move the joints, and wherein the multi-body model includes a kinematic and geometric model of each manipulator, a catalog of models for objects to be manipulated, the models comprising a current configuration and a target configuration, and a functional mapping of sensory data to configurations of the robot and the manipulators needed to manipulate the objects; at least one hardware processor coupled with the database; and one or more software modules that, when executed by the at least one hardware processor, receive sensory data from within a constrained space, identify objects in the constrained space based on the received sensory data and the catalog of models, determine a target pose for the joints and the manipulators based on the sensory data and the current and target configurations associated with the identified object, and compute joint space positions to necessary to realize the target pose.

A robot comprising a chopstick, configured for at least four degrees of freedom of movement, a stiff body of shape and proportions approximate to a pool cue; an electromagnetic actuator, comprising a motor, for each degree of freedom of movement coupled with the stiff body, wherein the functional mapping from each actuator's motor current to torque output along an axis of motion is stored, and used in concert with a calibrated model of the robot for effective impedance control; and a 6-axis force/torque sensor mounted inline between the actuators and each chopstick.

A system comprises a database; at least one hardware processor coupled with the database; and one or more software modules that, when executed by the at least one hardware processor, receive at least one of sensory data from a robot and images from a camera, identify and build models of objects in an environment, wherein the model encompasses immutable properties of identified objects including mass and geometry, and wherein the geometry is assumed not to change, estimate the state including position, orientation, and velocity, of the identified objects, determine based on the state and model, potential configurations, or pre-grasp poses, for grasping the identified objects and return multiple grasping configurations per identified object, determine an object to be picked based on a quality metric, translate the pre-grasp poses into behaviors that define motor forces and torques, communicate the motor forces and torques to the robot in order to allow the robot to perform a complex behavior generated from the behaviors.

An end effector comprising: a driving roller and presser rollers configured to hold a threaded member; a motor; a linear guide and an air cylinder including a rod configured to move the threaded member linearly along the axis of the threaded member; a detector; a robot arm; and a controller configured to: provide the threaded member near a position coaxially facing a threaded hole member by controlling the robot arm based on the position and the direction of the threaded hole member detected by the detector; and insert and screw the threaded member into the threaded hole member by controlling: the air cylinder including the rod to advance the threaded member toward the threaded hole member and insert a tip of the threaded member into the threaded hole member; and the motor to rotate the threaded member about the axis of the threaded member.

The disclosure relates to a method and apparatus for uncut material detection while lifting from an automated cutting table select pieces of thin, flexible material. The apparatus comprises a structured energy source and a structured energy sensor. The structured energy can be used to detect undesired lifting of a peripheral portion of the flexible material resulting from the presence of uncut material.

A gripper on an end effector of a robotic arm tightens caps onto a containers. Two or more such grippers cooperate to grip a cap and position it over the container. The cap is threaded to the container by rotating the cap while holding the container. The curved surface on the gripper conforms to and engages the periphery of the cap. The curved surface has plural apertures formed in it. The gripper has plural interior, partial-cylindrical compartments accessible via removable wall of the gripper. A resilient material, such as a fluoropolymer elastomer in the form of a cylinder fits into the compartments and extends partially through the apertures on the curved side to present plural resilient ribs to frictionally hold the cap during threading. When the resilient material is worn, it may be may be quickly replaced by removing the wall.

A robot hand includes holding members radially receiving a tape reel between flat-plate-shape main bodies facing each other, and an actuator configured to open and close the holding members. The holding members are openable and closable between a reel hold position and a tape pull-out position, the reel hold position is a position at which a distance between inner surfaces of the main bodies is greater than a distance between outer surfaces of pair of side plates of the tape reel, the tape pull-out position is a position at which a distance between outer surface of the main bodies is smaller than a distance between inner surfaces of the pair of side plates. The holding members include rail portions and cut-outs provided in the rail portions.

A machine tool system includes: a machine tool for machining a workpiece set on a table using a tool attached to a spindle; and a robot for gripping the workpiece. The robot is installed on the table and performs a setting operation for setting the workpiece on the table and a clamping operation for clamping the workpiece.

A gripping mechanism which grips an object includes a main body section, a first gripping section, and a second gripping section. The first and second gripping sections are connected, with a space therebetween, to the main body section. The first gripping section includes a first roller and a first frame. The first frame houses the first roller. The first gripping section grips a first portion of an object between an outer surface of the first roller and an inner surface of the first frame using gravity acting on the first roller. The second gripping section includes a second roller and a second frame. The second frame houses the second roller. The second gripping section grips a second portion of the object, differing from the first portion, between an outer surface of the second roller and an inner surface of the second frame using gravity acting on the second roller.

A picking device for storing bottles and a corresponding method are provided. The picking device includes a plurality of storage locations for bottles, an operating device having a gripper, at least one storing device, at least one identification device and an unloading device. The storage locations have storage location receptacles and the storing device has at least one storing receptacle for bottles, wherein the storage location receptacles and the storing receptacle are configured such that the bottles are held therein in such a way that they are protected against rolling. The gripper includes a gripping member configured such that the bottles are movable from the storing receptacles and storage location receptacles by being lifted by the gripping member or by being pulled to a holding area of the gripper.