An interactive laboratory robotic system is described that includes devices for use in a laboratory including a robotic assistant that can perform tasks and that can be controlled and configured by humans. The robot may assist personnel in performing repetitive tasks within a laboratory, and capture and store transactional and analytical data, such as during a DNA sequencing process. The robot may include sensors and/or cameras to detect, recognize, and track objects in an environment, and a manipulable arm having a hand for grasping objects. Other components of the system may include a sample tray graspable by the robot; a tray carriage for holding sample trays within equipment; an interactive shelf for holding sample trays; a mobile cart for mating with and charging the robot; and an accessory unit to enable the robot to open doors of equipment. The system may help to reduce or eliminate mistakes by personnel.

A method of automatically orienting symmetric and asymmetric produce items, such as apples for example, is provided. Individual items of produce are manipulated by a programmable manipulator within the view of one or more depth imaging cameras. Digital three dimensional characterizations of the surface of the produce items are generated by the depth imaging camera or cameras and are utilized by a computer connected to the depth imaging camera or cameras to locate the stem and blossom of each produce item. Asymmetric produce items, such as apples with dropped shoulders as well as symmetric produce items can be properly oriented and processed automatically.

Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

A system and method for optical localization of an autonomous mobile robot. The system includes a number of movable stationary landmarks defining an operating space for the robot. The robot includes a self-propelled mobile chassis, an optical sensor (a LiDAR sensor or optical camera) disposed on a raised portion and configured to detect the landmarks, and a controller configured to determine the position and orientation of the chassis based on information from the optical sensor. The landmarks have an elevated portion extending vertically to a height level which is equal to or higher than the horizontal plane of the optical sensor. Each landmark may have a cross-sectional feature and/or a visually distinct portion, to enable determining the orientation (of the optical sensor/mobile robot) relative to the landmark; as well as an identifier for uniquely identifying the landmark from others.

An end effector connectable to a robot arm includes a camera, a support member that includes a marker and supports a workpiece, and a brush that performs coating on the workpiece. The camera is arranged at a position allowing the camera to capture a brush tip of the brush and the marker simultaneously.

A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.

An end effector for harvesting edible crowns of broccoli plants. The end effector may include a body, fingers pivotably coupled to the body, and a rotary actuator disposed in the body. The rotary actuator operably couples to the fingers via one or more linkages and is configured to transition the fingers between an open position and a closed position. In the closed position, an edible crown is retained within the end effector, while in the open position, the edible crown is released from the end effector. A cutting mechanism of the end effector severs the edible crown from a stalk of the broccoli plant. A robotic arm may position the end effector relative to the edible crown for harvesting.

A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

A mechanical device for grasping an object without a power source includes a receiver and at least one grabber assembly secured to the receiver. The grabber assembly includes first and second arms with proximal end portions and distal end portions, hooks disposed at the distal end portions, and a mechanical linkage disposed near the proximal end portion of the first arm and the second arm. The mechanical linkage kinematically couples the first arm to the second arm. Displacement of the first arm or the second arm against the object causes movement of the mechanical linkage and thus movement of the second arm or first arm, respectively.