Robotic end effector with secondary gripper mechanism

Abstract

A robotic end effector may include a gripping panel and a secondary gripping mechanism. The secondary gripping mechanism may comprise an appendage with an arcuate portion and retention supports. An object may be retained in a space between the appendage and retention supports. A motor may move the appendage transversely to the gripping panel face between extended and stored positions. This configuration may allow grasping of objects with loops or thin cylindrical shapes. A pair of such end effectors may be symmetrically arranged with inward-facing gripping panels at an adjustable distance, enabling gripping of flat-sided or large cylindrical objects between the panels.

Description

TITLEROBOTIC END EFFECTOR WITH SECONDARY GRIPPER MECHANISMRELATED APPLICATION

[0001] Under provisions of 35 U.S.C. § 119(e), the Applicant claims the benefit of U.S. Provisional Application No. 63 / 592,1 1, filed on October 22, 2023, which is incorporated herein by reference.

[0002] It is intended that each of the referenced applications may be applicable to the concepts and embodiments disclosed herein, even if such concepts and embodiments are disclosed in the referenced applications with different limitations and configurations and described using different examples and terminology.FIELD OF DISCLOSURE

[0003] The present disclosure generally relates to robotic end effectors. More specifically, it pertains to robotic gripper systems used for picking, holding, and manipulating objects in various industries, particularly concerning robotic end effectors with secondary gripper mechanisms designed to effectively handle a variety of objects that differ in size, shape, weight, and intricacy.BACKGROUND

[0004] Robotic gripper systems are widely used in various industries for picking, holding, and manipulating objects. These gripper systems are typically mounted on robotic motion systems like robotic arms, delta robots, or gantry systems. Some gripper systems are intended to be multipurpose. However, current robotic grippers systems struggle to perform effectively when tasked to manipulate a variety of objects that differ in size, shape, weight, and intricacy.

[0005] Accordingly, there is a need for a robotic end effector capable of effectively manipulating a variety of objects that differ in size, shape, weight, and intricacy.BRIEF OVERVIEW

[0006] This brief overview is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This brief overview is not intended to identify key features or essential features of the claimedsubject matter. Nor is this brief overview intended to be used to limit the claimed subject matter’s scope.

[0007] Systems, apparatuses, and methods are disclosed herein for a robotic end effector with a secondary gripping mechanism. A robotic end effector may comprise a housing configured to attach to a robotic motion system. A gripping panel may be coupled to the housing. A secondary gripping mechanism may be coupled to the housing. The secondary gripping mechanism may comprise an appendage having a grip surface and an arcuate portion. The secondary gripping mechanism may further comprise a motor configured to move the appendage in a direction transverse to a face of the gripping panel, between an extended position and a stored position. At least one retention support may be coupled to the gripping panel. The appendage and the at least one retention support may define a space therebetween for retaining an object when the appendage is in the extended position.

[0008] A robotic gripping system may comprise a first robotic end effector and a second robotic end effector. The first and second robotic end effectors may be symmetrically disposed with their respective gripping panels facing inward. The first and second robotic end effectors may be movable to adjust a distance between the inwardfacing gripping panels.

[0009] A method of manipulating an object using one or more robotic end effectors may comprise detecting a first object. The method may further comprise, based on one or more features of the first object, positioning the one or more robotic end effectors above the detected first object. The method may additionally comprise extending an appendage of a secondary gripping mechanism of each of the one or more robotic end effectors to an extended position. The method may also comprise moving the one or more robotic end effectors towards the object until contact is sensed. The method may further comprise moving the one or more appendages towards a stored position until the first object is grasped between the appendage and at least one retention support of the one or more robotic end effectors.

[0010] Both the foregoing brief overview and the following detailed description provide examples and are explanatory only. Accordingly, the foregoing brief overview and the following detailed description should not be considered to be restrictive. Further,features or variations may be provided in addition to those set forth herein. For example, embodiments may be directed to various feature combinations and sub-combinations described in the detailed description.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various embodiments of the present disclosure. The drawings contain representations of various trademarks and copyrights owned by the Applicant. In addition, the drawings may contain other marks owned by third parties and are being used for illustrative purposes only. All rights to various trademarks and copyrights represented herein, except those belonging to their respective owners, are vested in and the property of the Applicant. The Applicant retains and reserves all rights in its trademarks and copyrights included herein, and grants permission to reproduce the material only in connection with reproduction of the granted patent and for no other purpose.

[0012] Furthermore, the drawings may contain text or captions that may explain certain embodiments of the present disclosure. This text is included for illustrative, nonlimiting, explanatory purposes of certain embodiments detailed in the present disclosure. In the drawings:

[0013] FIG. 1 illustrates an isometric view of an exemplary robotic end effector with secondary gripper mechanism with the appendage of the secondary gripper mechanism in an extended position.

[0014] FIG. 2 illustrates an isometric view of the exemplary robotic end effector with secondary gripper mechanism illustrated in FIG. 1 with the appendage of the secondary gripper mechanism in a stored position.

[0015] FIG. 3 illustrates a laterally transposed isometric view of the exemplary robotic end effector with secondary gripper mechanism illustrated in FIGs. 1 and 2.

[0016] FIG. 4 illustrates an exploded view of the exemplary robotic end effectors illustrated in FIGs. 1-3.

[0017] FIG. 5 illustrates an isometric view of an exemplary robotic motion system with two exemplary robotic end effectors.

[0018] FIG. 6 illustrates an isometric view of the two exemplary robotic end effectors at the attachment area to the exemplary robotic motion system illustrated in FIG. 5, shown gripping an object using the secondary gripping mechanism.

[0019] FIG. 7 illustrates an isometric view of an exemplary robotic motion system with two exemplary robotic end effectors.

[0020] FIG. 8 illustrates an isometric view of the two exemplary robotic end effectors at the attachment area to the exemplary robotic motion system illustrated in FIG. 7.

[0021] FIG. 9 illustrates an isometric view of the two exemplary robotic end effectors at the attachment area to the exemplary robotic motion system illustrated in FIG. 7, shown gripping an object using the primary gripping mechanism.

[0022] FIG. 10 illustrates an isometric view of exemplary robotic motion systems with exemplary robotic end effectors.

[0023] FIG. 11 is a depiction of an exemplary flow chart illustrating a process of configuring a robotic motion system according to aspects of the present disclosure.

[0024] FIG. 12 is a block diagram of a system including a computing device for use with the exemplary robotic end effector with secondary gripper mechanism illustrated in FIGs. 1 and 2 for performing the method of FIG. 10.DETAILED DESCRIPTION

[0025] As a preliminary matter, it will readily be understood by one having ordinary skill in the relevant art that the present disclosure has broad utility and application. As should be understood, any embodiment may incorporate only one or a plurality of the above-disclosed aspects of the disclosure and may further incorporate only one or a plurality of the above-disclosed features. Furthermore, any embodiment discussed and identified as being "preferred” is considered to be part of a best mode contemplated for carrying out the embodiments of the present disclosure. Other embodiments also may be discussed for additional illustrative purposes in providing a full and enabling disclosure. Moreover, many embodiments, such as adaptations, variations, modifications, and equivalent arrangements, will be implicitly disclosed by the embodiments described herein and fall within the scope of the present disclosure.

[0026] Accordingly, while embodiments are described herein in detail in relation to one or more embodiments, it is to be understood that this disclosure is illustrative andexemplary of the present disclosure and are made merely to provide a full and enabling disclosure. The detailed disclosure herein of one or more embodiments is not intended, nor is to be construed, to limit the scope of patent protection afforded in any claim of a patent issuing here from, which scope is to be defined by the claims and the equivalents thereof. It is not intended that the scope of patent protection be defined by reading into any claim a limitation found herein that does not explicitly appear in the claim itself.

[0027] Thus, for example, any sequence(s) and / or temporal order of steps of various processes or methods that are described herein are illustrative and not restrictive. Accordingly, it should be understood that, although steps of various processes or methods may be shown and described as being in a sequence or temporal order, the steps of any such processes or methods are not limited to being carried out in any particular sequence or order, absent an indication otherwise. Indeed, the steps in such processes or methods generally may be carried out in various different sequences and orders while still falling within the scope of the present invention. Accordingly, it is intended that the scope of patent protection is to be defined by the issued claim(s) rather than the description set forth herein.

[0028] Additionally, it is important to note that each term used herein refers to that which an ordinary artisan would understand such a term to mean based on the contextual use of the term herein. To the extent that the meaning of a term used herein — as understood by the ordinary artisan based on the contextual use of such term — differs in any way from any particular dictionary definition of such term, it is intended that the meaning of the term as understood by the ordinary artisan should prevail.

[0029] Regarding applicability of 35 U.S.C. §112, T[6, no claim element is intended to be read in accordance with this statutory provision unless the explicit phrase "means for” or "step for” is actually used in such claim element, whereupon this statutory provision is intended to apply in the interpretation of such claim element.

[0030] Furthermore, it is important to note that, as used herein, "a” and "an” each generally denotes "at least one,” but does not exclude a plurality unless the contextual use dictates otherwise. When used herein to join a list of items, "or” denotes "at least one of the items,” but does not exclude a plurality of items of the list. Finally, when used herein to join a list of items, "and” denotes "all of the items of the list.”

[0031] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numbers are used in the drawings and the following description to refer to the same or similar elements. While many embodiments of the disclosure may be described, modifications, adaptations, and other implementations are possible. For example, substitutions, additions, or modifications may be made to the elements illustrated in the drawings, and the methods described herein may be modified by substituting, reordering, or adding stages to the disclosed methods. Accordingly, the following detailed description does not limit the disclosure. Instead, the proper scope of the disclosure is defined by the appended claims. The present disclosure contains headers. It should be understood that these headers are used as references and are not to be construed as limiting upon the subject matter disclosed under the header.

[0032] The present disclosure includes many aspects and features. Moreover, while many aspects and features relate to, and are described in, the context of a robot end effector with primary and secondary gripping mechanisms, embodiments of the present disclosure are not limited to use only in this context.I. PLATFORM OVERVIEW

[0033] This overview is provided to introduce a selection of concepts in a simplified form that are further described below. This overview is not intended to identify key features or essential features of the claimed subject matter. Nor is this overview intended to be used to limit the claimed subject matter’s scope.

[0034] The robotic end effector described herein may provide enhanced object manipulation capabilities through a combination of primary and secondary gripping mechanisms. In some embodiments, the robotic end effector may comprise a housing configured to attach to a robotic motion system. A gripping panel may be coupled to the housing to provide a primary gripping surface.

[0035] The robotic end effector may further include a secondary gripping mechanism coupled to the housing. This secondary mechanism may comprise an appendage having a grip surface and an arcuate portion. The arcuate portion may allow the appendage to hook or engage with certain object features. A motor may be configured to move theappendage in a direction transverse to a face of the gripping panel, between an extended position and a stored position.

[0036] At least one retention support may be coupled to the gripping panel. The appendage and the retention support may define a space therebetween for retaining an object when the appendage is in the extended position. This configuration may allow for secure grasping of objects with various shapes and sizes.

[0037] In some embodiments, the motor may be an electric motor controlled by a computer system. The computer system may utilize a relative position device to determine the position of the motor's output shaft. Current draw measurements may be used to determine if a secure grip has been achieved.

[0038] Alternatively, the motor may be pneumatic in some implementations. A computer system may adjust and monitor pneumatic pressure, comparing expected and actual system pressures to determine grip security.

[0039] The robotic end effector may include customizable features to interface with different robotic motion systems. For example, a mounting block coupled to the housing may be customized to correspond with mounting features of various robotic arms or gantries.

[0040] In certain embodiments, two robotic end effectors may be used in conjunction, positioned symmetrically with their gripping panels facing inward. The distance between the inward-facing panels may be adjustable to accommodate objects of different sizes. This dual-effector configuration may enable grasping of objects between the opposing gripping surfaces.

[0041] The robotic end effector system described herein may allow for versatile object manipulation across a range of industrial and commercial applications. The combination of primary and secondary gripping mechanisms may provide enhanced dexterity and secure grasping of diverse object types.

[0042] Both the foregoing overview and the following detailed description provide examples and are explanatory only. Accordingly, the foregoing overview and the following detailed description should not be considered to be restrictive. Further, features or variations may be provided in addition to those set forth herein. For example,embodiments may be directed to various feature combinations and sub-combinations described in the detailed description.II. PLATFORM CONFIGURATION

[0043] FIG. 1 illustrates an exemplary end effector with secondary gripping mechanism. End effector 10 includes housing 100, secondary gripping mechanism 40, and motor 184. Housing 100 includes gripping panel 102, part 204, and gripping panel 136. End effector 10 may be attached to a robotic motion system via housing 100.

[0044] Gripping mechanism 40 includes appendage 44. Appendage 44 includes top surface 48, grip surface 52, and arcuate portion 56. Arcuate portion 56 may be a hook. Gripping mechanism 40 can be used to push, press, or manipulate objects or control interfaces.

[0045] Gripping panel 102 includes retention support 60 and gripping panel 136 includes retention support 64. as illustrated in FIG. 1 is formed at the distal ends of gripping panel 102 and gripping panel 136 relative to the connection between housing 100 and a robotic motion system. Retention supports 60 and 64 may comprise inward facing chamfer cuts that direct a convex part to the center of the notch. Appendage 44 extends from gripping mechanism 40 in a transverse direction relative to the motion of the pinch style gripper. Motor 184 may be electric or pneumatic and maybe, for example, a stepper motor. Appendage 44 is then retracted, drawing an object into the retention supports 60 and 64 on the side of the housing, creating a secure three contact-point grip between retention supports 60 and 64 and appendage 44.

[0046] With an electric motor driven appendage 44, motor 184 is controlled by a computer system and incorporates a relative position device to allow the computer system to understand the relative position of the motor output shaft. By measuring the current draw of the motor used to operate the secondary gripping mechanism, the computer system can determine whether a secure grip on an object has been achieved. With a pneumatic driven system, system pressure is adjusted and monitored by a computer system. By expected pressure system pressure is compared to actual system pressure to determine whether a secure grip on an object has been achieved. By adjusting the amount of force that is applied by either the electric motor or pneumatic systems, theobject in the secondary gripper can be locked into orientation at which it was grasped, or it can be allowed to dangle by applying less holding force.

[0047] FIG. 2 illustrates end effector 10 with appendage 44 in a stored position. In this position appendage 44 is fully retracted into the end effector housing. When actuated, appendage 44 extends in a near linear path transverse in relation to the face of gripping panel 102 and 136.

[0048] FIG. 3 illustrates a laterally transposed isometric view of the exemplary robotic end effector with secondary gripper mechanism illustrated in FIGs. 1 and 2. As illustrated, motor 184 is connected with part 136 through surface 140.

[0049] FIG. 4 illustrates an exemplary exploded view of end effector 10. Gripping panel 102, part 204, and gripping panel 136 may be connected to each other via fasteners 116 and 120. Fastener 116 may pass through paths 108, 220, and 164. Fastener 120 may pass through paths 112, 224, and 176. Motor 184 may be connected to part 136 via fasteners 196 and 200. These may pass through flanges on the exterior of motor 184 (e.g., fastener 196 passing through flange 192) to connect to surface 180 of part 136. Part 204 may include mounting hole 216. M ounting hole 216 may interface with a mounting block. Gripping mechanism 40 can be used to push, press, or manipulate objects or control interfaces.

[0050] As shown in FIG. 4, the gripping mechanism 40 may include or be formed as a Hoecken linkage for converting rotational motion (e.g., as generated by the motor 184) to approximate linear motion. The mechanism 40 includes a servo arm 42 that connects to the motor 184, a minor linkage 44, and a main linkage 46. The grip surface 52 may be disposed at a distal end of the main linkage 46. As shown, the rotational motion produced by the motor is converted to approximate straight-line motion via the servo arm 42 and linkages 44, 46. The Hoecken linkage balances straightness, lack of acceleration, and the proportion of the driving rotation spent in the linear portion of the full curve.

[0051] FIG. 5 illustrates exemplary configured robotic motion system 500. Configured robotic motion system 500 includes robotic motion system 504. Robotic motion system 504 is depicted as a robotic arm system in FIG. 5. However, other robotic motion systems, including delta robots and gantry systems, are also suitable. Robotic motion system 504 includes arm links 524, 528 and 536, joints 520, 530, 532, and 540, and base 544. Thenumber of arms and joints depicted is for illustrative purposes. Object 516 may vary according to the application and may be a wide range of objects. Some example object types include, but are not limited to: pens and pencils, surgical instruments, cables and wires, and objects with loops (e.g., scissors],

[0052] FIG. 6 illustrates an exemplary interface between robotic motion system 504 and end effectors 508 and 512. While two end effectors are depicted in FIG. 6, the interface is applicable to a single end effector and is also contemplated, and more than two end effectors is also contemplated in other embodiments. A mounting block is attached at the top of the main housing. This block is meant to interface with the robotic motion system the end effectors are mounted to. This block can be swapped and customized to add mechanical detail that correspond with the mounting features of the robotic motion system it will be secured to. The mounting block can be manufactured by injection molding plastic, 3D printing plastic or metal, machining metal, or a combination of those manufacturing techniques.

[0053] The pinching motion of the robotic gripper, provided by motor 518, is used to adjust the distance between the parallel end effectors 508, 512, allowingthe two gripping mechanisms to engage a specific area on an object. This method of gripping is especially useful for grasping objects with loops (e.g., scissors), or thin, cylindrical objects. For grasping objects with loops, the distance between the parallel end effectors is set to the same distance between the object's loops. In this manner, the gripping mechanism (appendage 44) of each end effector can grasp the outer part of each loop to pick up the object as such.

[0054] FIG. 7 illustrates exemplary system 700, including robotic motion system 704 (depicted as a robotic arm system) with end effectors 708 and 712. As illustrated, end effectors 708 and 712 employ inner gripping panels to grasp an object. Object 716 may vary according to the application and may be a wide range of objects. This method of gripping is especially useful for relatively flat objects, and cylindrical objects with relatively large radii. Some examples include, but are not limited to: surgical instruments (e.g., scalpels and retractors), computer mouse, and small plastic bottles.

[0055] FIGs. 8 and 9 illustrate an exemplary interface between robotic motion system 704 and end effectors 708 and 712. While two end effectors are depicted in FIGs. 8 and9, the interface is applicable to more than two end effectors, which is also contemplated in other embodiments. A mounting block 816 is attached at the top of the main housing. This block is meant to interface with the robotic motion system the end effectors are mounted to. This block 816 can be swapped and customized to add mechanical detail that correspond with the mounting features of the robotic motion system it will be secured to. The mounting block 816 can be manufactured by injection molding plastic, 3D printing plastic or metal, machining metal, or a combination of those manufacturing techniques.

[0056] The pinching motion of the robotic gripper, powered by motor 812, is used to adjustthe distance 804 between the parallel end effectors 708, 712, allowing the gripping pads of the end effectors 708, 712 to engage an object 716. This method of gripping is especially useful for grasping flat objects, or cylindrical objects having larger radii.

[0057] FIG. 10 illustrates exemplary system 900. Robotic motion system 900 includes robotic motion system 904 and robotic motion system 908, both of which are depicted as robotic arm systems. End effector 912 is mounted on robotic motion system 904, and end effector 916 is mounted on robotic motion system 908. FIG. 10 also depicts object 920. Object 920 may vary according to the application and may be a wide range of objects. The present disclosure also allows for collaboration between multiple robotic motion systems. The secondary gripping mechanism of the end effectors mounted on each of the robotic motion systems can be used to grasp separate parts of the same objects. This is useful, for example, for distributing the weight load between multiple robotic motion systems.

[0058] This end effector can also be used on non-traditional grippers like many fingered(3+] grippers, pinching and suction grippers, and grippers with rotating fingers.III. PLATFORM OPERATION

[0059] Embodiments of the present disclosure provide a hardware and software platform operative by a set of methods and computer-readable media comprising instructions configured to operate the aforementioned modules and computing elements in accordance with the methods. The following depicts an example of at least one method of a plurality of methods that may be performed by at least one of the aforementionedmodules. Various hardware components may be used at the various stages of operations disclosed with reference to each module.

[0060] For example, although methods may be described as being performed by a single computing device, it should be understood that, in some embodiments, different operations may be performed by different networked elements in operative communication with the computing device. For example, at least one computing device 1100 may be employed in the performance of some or all of the stages disclosed with regard to the methods. Similarly, an apparatus may be employed in the performance of some or all of the stages of the methods. As such, the apparatus may comprise at least those architectural components found in computing device 1100.

[0061] Furthermore, although the stages of the following example method are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. Stages may be combined, separated, reordered, and various intermediary stages may exist. Accordingly, it should be understood that the various stages, in various embodiments, may be performed in arrangements that differ from the ones described below. Moreover, various stages may be added or removed from the without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.

[0062] Consistent with embodiments of the present disclosure, a method may be performed by at least one of the aforementioned modules. The method maybe embodied as, for example, but not limited to, computer instructions, which, when executed, perform the method.

[0063] FIG. 11 is a depiction of an exemplary flow chart (1000) of methods for manipulating objects using the configuration depicted in FIG. 5. Namely, using one robotic motion system equipped with a parallel end effector which is in turn equipped with two secondary end effectors. The object is grasped using the secondary gripper mechanism from this present disclosure.

[0064] At 1004, an object is detected. The detection of the object involves determining its pose, shape, size, and any other features of importance (e.g., does the object have finger loops?).

[0065] At 1008, the primary parallel end effector is positioned relative to the object to be gripped and opened to a desired position. The gripper’s pose is a function of the detected object's pose such that it matches the configuration needed to grasp the object by the area of interest. For example, grasping the object by the center or its finger loops if present. In embodiments, the distance between the parallel portions of the end effector is set based on the desired grasping locations of the detected object.

[0066] At 1012, the gripping mechanism (appendage 44) for both secondary end effectors are set to their extended positions, and the distance between the parallel end effectors is set to the desired grasping locations. For example, if grasping an object by its finger loops, the distance between the parallel end effectors is the same as the distance between the outer part of the two finger loops.

[0067] At 1016, the robotic motion system moves the secondary end effectors to the desired pose to grasp the object . For example, the robotic motion system may move until contact is sensed (e.g., using a force / torque sensor mounted on the robotic motion system).

[0068] At 1020, the gripping mechanisms (e.g., appendage 44) on both secondary end effectors are moved towards their stored position until the object is grasped. With an electric motor driven secondary gripper mechanism, the electric motor is controlled by a computer system and incorporates a relative position device to allow the computer system to understand the relative position of the motor output shaft. By measuring the current draw of the motor used to operate the secondary gripping mechanism, the computer system can determine whether a secure grip on an object has been achieved. With a pneumatic driven system, system pressure is adjusted and monitored by a computer system. The expected pressure is compared to actual system pressure to determine whether a secure grip on an object has been achieved. By adjusting the amount of force that is applied by either the electric motor or pneumatic systems, the object in the secondary gripper can be locked into orientation at which it was grasped, or it can be allowed to dangle by applying less holding force.IV. HARDWARE ARCHITECTURE

[0069] Embodiments of the present disclosure provide a hardware and software platform operative as a distributed system of modules and computing elements.

[0070] The platform may be embodied as, for example, but not be limited to, a website, a web application, a desktop application, a backend application, and a mobile application compatible with a computing device 1100. The computing device 1100 may comprise, but not be limited to, the following:

[0071] Mobile computing device, such as, but is not limited to, a laptop, a tablet, a smartphone, a drone, a wearable, an embedded device, a handheld device, an Arduino, an industrial device, or a remotely operable recording device;

[0072] A supercomputer, an exascale supercomputer, a mainframe, or a quantum computer;

[0073] A minicomputer, wherein the minicomputer computing device comprises, but is not limited to, an IBM AS400 / iSeries / System I, A DEC VAX / PDP, an HP3000, a Honeywell-Bull DPS, a Texas Instruments TI-990, or a Wang Laboratories VS Series;

[0074] A microcomputer, wherein the microcomputer computing device comprises, but is not limited to, a server, wherein a server may be rack-mounted, a workstation, an industrial device, a raspberry pi, a desktop, or an embedded device;

[0075] Embodiments of the present disclosure may comprise a system having a central processing unit (CPU) 1120, a bus 1130, a memory unit 1140, a power supply unit (PSU) 1150, and one or more Input I Output (I / O) units. The CPU 1120 coupled to the memory unit 1140 and the plurality of I / O units 1160 via the bus 1130, all of which are powered by the PSU 1150. It should be understood that, in some embodiments, each disclosed unit may actually be a plurality of such units for redundancy, high availability, and / or performance purposes. The combination of the presently disclosed units is configured to perform the stages of any method disclosed herein.

[0076] FIG. 12 is a block diagram of a system including computing device 1100. Consistent with an embodiment of the disclosure, the aforementioned CPU 1120, the bus 1130, the memory unit 1140, a PSU 1150, and the plurality of I / O units 1160 may be implemented in a computing device, such as computing device 1100 of FIG. 12. Any suitable combination of hardware, software, or firmware may be used to implement the aforementioned units. For example, the CPU 1120, the bus 1130, and the memory unit 1140 may be implemented with computing device 1100 or any of other computing devices 1100, in combination with computing device 1100. The aforementioned system,device, and components are examples and other systems, devices, and components may comprise the aforementioned CPU 1120, the bus 1130, and the memory unit 1140, consistent with embodiments of the disclosure.

[0077] At least one computing device 1100 may be embodied as any of the computing elements illustrated in all of the attached figures. A computing device 1100 does not need to be electronic, nor even have a CPU 1120, nor bus 1130, nor memory unit 1140. The definition of the computing device 1100 to a person having ordinary skill in the art is "A device that computes, especially a programmable [usually] electronic machine that performs high-speed mathematical or logical operations or that assembles, stores, correlates, or otherwise processes information." Any device which processes information qualifies as a computing device 1100, especially if the processing is purposeful.

[0078] With reference to FIG. 12, a system consistent with an embodiment of the disclosure may include a computing device, such as computing device 1100. In some configurations, the computing device 1100 may include at least one clock module 1110, at least one CPU 1120, at least one bus 1130, and at least one memory unit 1140, at least one PSU 1150, and at least one I / O 1160 module, wherein I / O module maybe comprised of, but not limited to a non-volatile storage sub-module 1161, a communication submodule 1162, a sensors sub-module 1163, and a peripherals sub-module 1164.

[0079] In a system consistent with an embodiment of the disclosure, the computing device 1100 may include the clock module 1110, known to a person having ordinary skill in the art as a clock generator, which produces clock signals. Clock signals may oscillate between a high state and a low state at a controllable rate, and may be used to synchronize or coordinate actions of digital circuits. Most integrated circuits [ICs] of sufficient complexity use a clock signal in order to synchronize different parts of the circuit, cycling at a rate slower than the worst-case internal propagation delays. One well- known example of the aforementioned integrated circuit is the CPU 1120, the central component of modern computers, which relies on a clock signal. The clock 1110 can comprise a plurality of embodiments, such as, but not limited to, a single-phase clock which transmits all clock signals on effectively 1 wire, a two-phase clock which distributes clock signals on two wires, each with non-overlapping pulses, and a four- phase clock which distributes clock signals on 4 wires.

[0080] Many computing devices 1100 may use a "clock multiplier" which multiplies a lower frequency external clock to the appropriate clock rate of the CPU 1120. This allows the CPU 1120 to operate at a much higher frequency than the rest of the computing device 1100, which affords performance gains in situations where the CPU 1120 does not need to wait on an external factor (like memory 1140 or input / output 1160). Some embodiments of the clock 1110 may include dynamic frequency change, where the time between clock edges can vary widely from one edge to the next and back again.

[0081] In a system consistent with an embodiment of the disclosure, the computing device 1100 may include the CPU 1120 comprising at least one CPU Core 1121. In other embodiments, the CPU 1120 may include a plurality of identical CPU cores 1121, such as, but not limited to, homogeneous multi-core systems. It is also possible for the plurality of CPU cores 1121 to comprise different CPU cores 1121, such as, but not limited to, heterogeneous multi-core systems, big.LITTLE systems and some AMD accelerated processing units (APU). The CPU 1120 reads and executes program instructions which may be used across many application domains, for example, but not limited to, general purpose computing, embedded computing, network computing, digital signal processing (DSP), and graphics processing (GPU). The CPU 1120 may run multiple instructions on separate CPU cores 1121 simultaneously. The CPU 1120 may be integrated into at least one of a single integrated circuit die, and multiple dies in a single chip package. The single integrated circuit die and / or the multiple dies in a single chip package may contain a plurality of other elements of the computing device 1100, for example, but not limited to, the clock 1110, the bus 1130, the memory 1140, and I / O 1160.

[0082] The CPU 1120 may contain cache 1122 such as but not limited to a level 1 cache, a level 2 cache, a level 3 cache, or combinations thereof. The cache 1122 may or may not be shared amongst a plurality of CPU cores 1121. The cache 1122 sharing may comprise at least one of message passing and inter-core communication methods used for the at least one CPU Core 1121 to communicate with the cache 1122. The inter-core communication methods may comprise, but not be limited to, bus, ring, two-dimensional mesh, and crossbar. The aforementioned CPU 1120 may employ symmetric multiprocessing (SMP) design.

[0083] The one or more CPU cores 1121 may comprise soft microprocessor cores on a single field programmable gate array (FPGA), such as semiconductor intellectual property cores (IP Core). The architectures of the one or more CPU cores 1121 may be based on at least one of, but not limited to, Complex Instruction Set Computing (CISC), Zero Instruction Set Computing (ZISC), and Reduced Instruction Set Computing (RISC). At least one performance-enhancing method may be employed by one or more of the CPU cores 1121, for example, but not limited to Instruction-level parallelism (ILP) such as, but not limited to, superscalar pipelining, and Thread-level parallelism (TLP).

[0084] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ a communication system that transfers data between components inside the computing device 1100, and / or the plurality of computing devices 1100. The aforementioned communication system will be known to a person having ordinary skill in the art as a bus 1130. The bus 1130 may embody internal and / or external hardware and software components, for example, but not limited to a wire, an optical fiber, various communication protocols, and / or any physical arrangement that provides the same logical function as a parallel electrical bus. The bus 1130 may comprise at least one of a parallel bus, wherein the parallel bus carries data words in parallel on multiple wires; and a serial bus, wherein the serial bus carries data in bit-wise serial form. The bus 1130 may embody a plurality of topologies, for example, but not limited to, a multidrop I electrical parallel topology, a daisy chain topology, and connected by switched hubs, such as a USB bus. The bus 1130 may comprise a plurality of embodiments, for example, but not limited to:• Internal data bus (data bus) 1131 / Memory bus• Control bus 1132• Address bus 1133• System Management Bus (SMBus)• Front-Side-Bus (FSB)• External Bus Interface (EBI)• Local bus• Expansion bus• Lightning bus• Controller Area Network (CAN bus)• Camera Link• ExpressCard• Advanced Technology management Attachment (ATA), including embodiments and derivatives such as, but not limited to, Integrated Drive Electronics (IDE) / Enhanced IDE (EIDE), ATA Packet Interface (ATAPI), Ultra- Direct Memory Access (UDMA), Ultra ATA (UATA) / Parallel ATA (PATA) I Serial ATA (SATA), CompactFlash (CF) interface, Consumer Electronics ATA (CE-ATA) / Fiber Attached Technology Adapted (FATA), Advanced Host Controller Interface (AHCI), SATA Express (SATAe) / External SATA (eSATA), including the powered embodiment eSATAp / Mini-SATA (mSATA), and Next Generation Form Factor (NGFF) / M.2.• Small Computer System Interface (SCSI) / Serial Attached SCSI (SAS)• HyperTransport• InfiniBand• RapidlO• Mobile Industry Processor Interface (MIPI)• Coherent Processor Interface (CAPI)• Plug-n-play• 1-Wire• Peripheral Component Interconnect (PCI), including embodiments such as but not limited to, Accelerated Graphics Port (AGP), Peripheral Component Interconnect extended (PCI-X), Peripheral Component Interconnect Express (PCI-e) (e.g., PCI Express Mini Card, PCI Express M.2 [Mini PCIe v2], PCI Express External Cabling [ePCIe], and PCI Express OCuLink [Optical Copper{Cu) Link]), Express Card, AdvancedTCA, AMC, Universal 10, Thunderbolt / Mini DisplayPort, Mobile PCIe (M-PCIe), U.2, and Non-Volatile Memory Express (NVMe) / Non-Volatile Memory Host Controller Interface Specification (NVMHCIS).• Industry Standard Architecture (ISA), including embodiments such as, but not limited to Extended ISA (EISA), PC / XT-bus / PC / AT-bus / PC / 104bus (e.g.,PC / 104-Plus, PCI / 104-Express, PCI / 104, and PCI-104), and Low Pin Count (LPC).• Music Instrument Digital Interface (MIDI)• Universal Serial Bus (USB), including embodiments such as, but not limited to, Media Transfer Protocol (MTP) / Mobile High-Definition Link (MHL), Device Firmware Upgrade (DFU), wireless USB, InterChip USB, IEEE 1394 Interface / Firewire, Thunderbolt, and extensible Host Controller Interface (xHCI).

[0085] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ hardware integrated circuits that store information for immediate use in the computing device 1100, known to persons having ordinary skill in the art as primary storage or memory 1140. The memory 1140 operates at high speed, distinguishing it from the non-volatile storage sub-module 1161, which may be referred to as secondary or tertiary storage, which provides relatively slower-access to information but offers higher storage capacity. The data contained in memory 1140, may be transferred to secondary storage via techniques such as, but not limited to, virtual memory and swap. The memory 1140 may be associated with addressable semiconductor memory, such as integrated circuits consisting of silicon- based transistors, which may be used as primary storage or for other purposes in the computing device 1100. The memory 1140 may comprise a plurality of embodiments, such as, but not limited to volatile memory, non-volatile memory, and semi-volatile memory. It should be understood by a person having ordinary skill in the art that the following are non-limiting examples of the aforementioned memory:• Volatile memory, which requires power to maintain stored information, for example, but not limited to, Dynamic Random-Access Memory [DRAM] 1141, Static Random-Access Memory (SRAM) 1142, CPU Cache memory 1125, Advanced Random-Access Memory (A-RAM), and other types of primary storage such as Random-Access Memory (RAM).• Non-volatile memory, which can retain stored information even after power is removed, for example, but not limited to, Read-Only Memory (ROM) 1143, Programmable ROM (PROM) 1144, Erasable PROM (EPROM) 1145,Electrically Erasable PROM (EEPROM) 1146 (e.g., flash memory and Electrically Alterable PROM [EAPROM]), Mask ROM (MROM), One Time Programmable (OTP) ROM / Write Once Read Many (WORM), Ferroelectric RAM (FeRAM), Parallel Random-Access Machine (PRAM), Split-Transfer Torque RAM (STT-RAM), Silicon Oxime Nitride Oxide Silicon (SONOS), Resistive RAM (RRAM), Nano RAM (NRAM), 3D XPoint, Domain-Wall Memory (DWM), and millipede memory.• Semi-volatile memory may have limited non-volatile duration after power is removed but may lose data after said duration has passed. Semi-volatile memory provides high performance, durability, and other valuable characteristics typically associated with volatile memory, while providing some benefits of true non-volatile memory. The semi-volatile memory may comprise volatile and non-volatile memory, and / or volatile memory with a battery to provide power after power is removed. The semi-volatile memory may comprise, but is not limited to, spin-transfer torque RAM (STT-RAM).

[0086] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ a communication system between an information processing system, such as the computing device 1100, and the outside world, for example, but not limited to, human, environment, and another computing device 1100. The aforementioned communication system may be known to a person having ordinary skill in the art as an Input / Output (I / O) module 1160. The I / O module 1160 regulates a plurality of inputs and outputs with regard to the computing device 1100, wherein the inputs are a plurality of signals and data received by the computing device 1100, and the outputs are the plurality of signals and data sent from the computing device 1100. The I / O module 1160 interfaces with a plurality of hardware, such as, but not limited to, non-volatile storage 1161, communication devices 1162, sensors 1163, and peripherals 1164. The plurality of hardware is used by at least one of, but not limited to, humans, the environment, and another computing device 1100 to communicate with the present computing device 1100. The I / O module 1160 may comprise a plurality of forms, for example, but not limited to channel I / O, port mapped I / O, asynchronous I / O, and Direct Memory Access (DMA).

[0087] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ a non-volatile storage sub-module 1161, which may be referred to by a person having ordinary skill in the art as one of secondary storage, external memory, tertiary storage, off-line storage, and auxiliary storage. The non-volatile storage sub-module 1161 may not be accessed directly by the CPU 1120 without using an intermediate area in the memory 1140. The non-volatile storage sub-module 1161 may not lose data when power is removed and may be orders of magnitude less costly than storage used in memory 1140. Further, the non-volatile storage sub-module 1161 may have a slower speed and higher latency than in other areas ofthe computing device 1100. The non-volatile storage sub-module 1161 may comprise a plurality of forms, such as, but not limited to, Direct Attached Storage DAS], Network Attached Storage [NAS , Storage Area Network (SAN), nearline storage, Massive Array of Idle Disks (MAID), Redundant Array of Independent Disks (RAID), device mirroring, offline storage, and robotic storage. The non-volatile storage sub-module (1161) may comprise a plurality of embodiments, such as, but not limited to:• Optical storage, for example, but not limited to, Compact Disk (CD) (CD-ROM / CD-R / CD-RW), Digital Versatile Disk (DVD) (DVD-ROM / DVD-R / DVD+R / DVD-RW I DVD+RW / DVD±RW / DVD+R DL / DVD-RAM / HD-DVD), Blu-ray Disk (BD) (BD-ROM / BD-R / BD-RE / BD-R DL / BD-RE DL), and Ultra-Density Optical (UDO).• Semiconductor storage, for example, but not limited to, flash memory, such as, but not limited to, USB flash drive, Memory card, Subscriber Identity Module (SIM) card, Secure Digital (SD) card, Smart Card, CompactFlash (CF) card, Solid-State Drive (SSD) and memristor.• Magnetic storage such as, but not limited to, Hard Disk Drive (HDD), tape drive, carousel memory, and Card Random-Access Memory (CRAM).• Phase-change memory• Holographic data storage such as Holographic Versatile Disk (HVD).• Molecular Memory• Deoxyribonucleic Acid (DNA) digital data storage

[0088] Consistent with the embodiments of the present disclosure, the computing device 1100 may employ a communication sub-module 1162 as a subset of the I / O module 1160, which may be referred to by a person having ordinary skill in the art as at least one of, but not limited to, a computer network, a data network, and a network. The network may allow computing devices 1100 to exchange data using connections, which may also be known to a person having ordinary skill in the art as data links, which may include data links between network nodes. The nodes may comprise networked computer devices 1100 that may be configured to originate, route, and / or terminate data. The nodes may be identified by network addresses and may include a plurality of hosts consistent with the embodiments of a computing device 1100. Examples of computing devices that may include a communication sub-module 1162 include, but are not limited to, personal computers, phones, servers, drones, and networking devices such as, but not limited to, hubs, switches, routers, modems, and firewalls.

[0089] Two nodes can be considered networked together when one computing device 1100 can exchange information with the other computing device 1100, regardless of any direct connection between the two computing devices 1100. The communication submodule 1162 supports a plurality of applications and services, such as, but not limited to World Wide Web (WWW), digital video and audio, shared use of application and storage computing devices 1100, printers / scanners / fax machines, email / online chat / instant messaging, remote control, distributed computing, etc. The network may comprise one or more transmission mediums, such as, but not limited to conductive wire, fiber optics, and wireless signals. The network may comprise one or more communications protocols to organize network traffic, wherein application-specific communications protocols may be layered, and may be known to a person having ordinary skill in the art as being improved for carrying a specific type of payload, when compared with other more general communications protocols. The plurality of communications protocols may comprise, but are not limited to, IEEE 802, ethernet, Wireless LAN (WLAN / Wi-Fi), Internet Protocol (IP) suite (e.g., TCP / IP, UDP, Internet Protocol version 4 [IPv4], and Internet Protocol version 6 [IPv6]), Synchronous Optical Networking (SONET) / Synchronous Digital Hierarchy (SDH), Asynchronous Transfer Mode (ATM), and cellular standards (e.g., Global System for Mobile Communications [GSM], General Packet Radio Service[GPRS], Code-Division Multiple Access [CDMA], Integrated Digital Enhanced Network [IDEN], Long Term Evolution [LTE], LTE-Advanced [LTE-A], and fifth generation [5G] communication protocols).

[0090] The communication sub-module 1162 may comprise a plurality of size, topology, traffic control mechanisms and organizational intent policies. The communication sub-module 1162 may comprise a plurality of embodiments, such as, but not limited to:• Wired communications, such as, but not limited to, coaxial cable, phone lines, twisted pair cables (ethernet), and InfiniBand.• Wireless communications, such as, but not limited to, communications satellites, cellular systems, radio frequency / spread spectrum technologies, IEEE 802.11 Wi-Fi, Bluetooth, NFC, free-space optical communications, terrestrial microwave, and Infrared (IR) communications. Wherein cellular systems embody technologies such as, but not limited to, 3G,4G (such as WiMAX and LTE), and 5G (short and long wavelength).• Parallel communications, such as, but not limited to, LPT ports.• Serial communications, such as, but not limited to, RS-232 and USB.• Fiber Optic communications, such as, but not limited to, Single-mode optical fiber (SMF) and Multi-mode optical fiber (MMF).• Power Line communications

[0091] The aforementioned network may comprise a plurality of layouts, such as, but not limited to, bus networks such as Ethernet, star networks such as Wi-Fi, ring networks, mesh networks, fully connected networks, and tree networks. The network can be characterized by its physical capacity or its organizational purpose. Use of the network, including user authorization and access rights, may differ according to the layout of the network. The characterization may include, but is not limited to a nanoscale network, a Personal Area Network (PAN), a Local Area Network (LAN), a Home Area Network (HAN), a Storage Area Network (SAN), a Campus Area Network (CAN), a backbone network, a Metropolitan Area Network (MAN), a Wide Area Network (WAN), an enterprise private network, a Virtual Private Network (VPN), and a Global Area Network (GAN).

[0092] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ a sensors sub-module 1163 as a subset of the I / O 1160. The sensors sub-module 1163 comprises at least one of the device, module, or subsystem whose purpose is to detect events or changes in its environment and send the information to the computing device 1100. Sensors may be sensitive to the property they are configured to measure, may not be sensitive to any property not measured but be encountered in its application, and may not significantly influence the measured property. The sensors sub-module 1163 may comprise a plurality of digital devices and analog devices, wherein if an analog device is used, an Analog to Digital (A-to-D) converter must be employed to interface the said device with the computing device 1100. The sensors may be subject to a plurality of deviations that limit sensor accuracy. The sensors sub-module 1163 may comprise a plurality of embodiments, such as, but not limited to, chemical sensors, automotive sensors, acoustic / sound / vibration sensors, electric current / electric potential / magnetic / radio sensors, environmental / weather / moisture / humidity sensors, flow / fluid velocity sensors, ionizing radiation / particle sensors, navigation sensors, position / angle I displacement / distance / speed I acceleration sensors, imaging / optical / light sensors, pressure sensors, force / density I level sensors, thermal I temperature sensors, and proximity / presence sensors. It should be understood by a person having ordinary skill in the art that the ensuing are non-limiting examples of the aforementioned sensors:• Chemical sensors, such as, but not limited to, breathalyzer, carbon dioxide sensor, carbon monoxide / smoke detector, catalytic bead sensor, chemical field-effect transistor, chemiresistor, electrochemical gas sensor, electronic nose, electrolyte-insulator-semiconductor sensor, energy-dispersive X-ray spectroscopy, fluorescent chloride sensors, holographic sensor, hydrocarbon dew point analyzer, hydrogen sensor, hydrogen sulfide sensor, infrared point sensor, ion-selective electrode, nondispersive infrared sensor, microwave chemistry sensor, nitrogen oxide sensor, olfactometer, optode, oxygen sensor, ozone monitor, pellistor, pH glass electrode, potentiometric sensor, redox electrode, zinc oxide nanorod sensor, and biosensors (such as nanosensors).• Automotive sensors, such as, but not limited to, air flow meter / mass airflow sensor, air-fuel ratio meter, AFR sensor, blind spot monitor, engine coolant / exhaust gas / cylinder head I transmission fluid temperature sensor, hall effect sensor, wheel / automatic transmission / turbine / vehicle speed sensor, airbag sensors, brake fluid / engine crankcase I fuel I oil / tire pressure sensor, camshaft I crankshaft / throttle position sensor, fuel / oil level sensor, knock sensor, light sensor, MAP sensor, oxygen sensor (o2), parking sensor, radar sensor, torque sensor, variable reluctance sensor, and water-in-fuel sensor.• Acoustic, sound and vibration sensors, such as, but not limited to, microphone, lace sensors such as a guitar pickup, seismometer, sound locator, geophone, and hydrophone.• Electric current, electric potential, magnetic, and radio sensors, such as, but not limited to, current sensor, Daly detector, electroscope, electron multiplier, faraday cup, galvanometer, hall effect sensor, hall probe, magnetic anomaly detector, magnetometer, magnetoresistance, MEMS magnetic field sensor, metal detector, planar hall sensor, radio direction finder, and voltage detector.• Environmental, weather, moisture, and humidity sensors, such as, but not limited to, actinometer, air pollution sensor, moisture alarm, ceilometer, dew warning, electrochemical gas sensor, fish counter, frequency domain sensor, gas detector, hook gauge evaporimeter, humistor, hygrometer, leaf sensor, lysimeter, pyranometer, pyrgeometer, psychrometer, rain gauge, rain sensor, seismometers, SNOTEL, snow gauge, soil moisture sensor, stream gauge, and tide gauge.• Flow and fluid velocity sensors, such as, but not limited to, air flow meter, anemometer, flow sensor, gas meter, mass flow sensor, and water meter.• Ionizing radiation and particle sensors, such as, but not limited to, cloud chamber, Geiger counter, Geiger-Muller tube, ionization chamber, neutron detection, proportional counter, scintillation counter, semiconductor detector, and thermoluminescent dosimeter.• Navigation sensors, such as, but not limited to, airspeed indicator, altimeter, attitude indicator, depth gauge, fluxgate compass, gyroscope, inertial navigation system, inertial reference unit, magnetic compass, MHD sensor, ring laser gyroscope, turn coordinator, variometer, vibrating structure gyroscope, and yaw rate sensor.• Position, angle, displacement, distance, speed, and acceleration sensors, such as but not limited to, accelerometer, displacement sensor, flex sensor, free-fall sensor, gravimeter, impact sensor, laser rangefinder, LIDAR, odometer, photoelectric sensor, position sensor such as, but not limited to, GPS or Glonass, angular rate sensor, shock detector, ultrasonic sensor, tilt sensor, tachometer, ultra-wideband radar, variable reluctance sensor, and velocity receiver.• Imaging, optical and light sensors, such as, but not limited to, CMOS sensor, colorimeter, contact image sensor, electro-optical sensor, infra-red sensor, kinetic inductance detector, LED configured as a light sensor, light-addressable potentiometric sensor, Nichols radiometer, fiber-optic sensors, optical position sensor, thermopile laser sensor, photodetector, photodiode, photomultiplier tubes, phototransistor, photoelectric sensor, photoionization detector, photomultiplier, photoresistor, photoswitch, phototube, scintillometer, Shack-Hartmann, single-photon avalanche diode, superconducting nanowire single-photon detector, transition edge sensor, visible light photon counter, and wavefront sensor.• Pressure sensors, such as, but not limited to, barograph, barometer, boost gauge, bourdon gauge, hot filament ionization gauge, ionization gauge, McLeod gauge, Oscillating U-tube, permanent downhole gauge, piezometer, Pirani gauge, pressure sensor, pressure gauge, tactile sensor, and time pressure gauge.• Force, Density, and Level sensors, such as, but not limited to, bhangmeter, hydrometer, force gauge or force sensor, level sensor, load cell, magnetic level or nuclear density sensor or strain gauge, piezocapacitive pressure sensor, piezoelectric sensor, torque sensor, and viscometer.• Thermal and temperature sensors, such as, but not limited to, bolometer, bimetallic strip, calorimeter, exhaust gas temperature gauge, flame detection / pyrometer, Garden gauge, Golay cell, heat flux sensor, microbolometer, microwave radiometer, net radiometer, infrared / quartz / resistance thermometer, silicon bandgap temperature sensor, thermistor, and thermocouple.• Proximity and presence sensors, such as, but not limited to, alarm sensor, doppler radar, motion detector, occupancy sensor, proximity sensor, passive infrared sensor, reed switch, stud finder, triangulation sensor, touch switch, and wired glove.

[0093] Consistent with the embodiments of the present disclosure, the aforementioned computing device 1100 may employ a peripherals sub-module 1164 as a subset of the I / O 1160. The peripheral sub-module 1164 comprises ancillary devices uses to put information into and get information out of the computing device 1100. There are 3 categories of devices comprising the peripheral sub-module 1164, which exist based on their relationship with the computing device 1100, input devices, output devices, and input / output devices. Input devices send at least one of data and instructions to the computing device 1100. Input devices can be categorized based on, but not limited to:• Modality of input, such as, but not limited to, mechanical motion, audio, visual, and tactile.• Whether the input is discrete, such as but not limited to, pressing a key, or continuous such as, but not limited to the position of a mouse.• The number of degrees of freedom involved, such as, but not limited to, two-dimensional mice and three-dimensional mice used for Computer-Aided Design (CAD) applications.

[0094] Output devices provide output from the computing device 1100. Output devices convert electronically generated information into a form that can be presented to humans. Input / output devices perform that perform both input and output functions. It should be understood by a person having ordinary skill in the art that the ensuing are non-limiting embodiments of the aforementioned peripheral sub-module 1164:T1• Input Devices o Human Interface Devices (HID), such as, but not limited to, pointing device (e.g., mouse, touchpad, joystick, touchscreen, game controller I gamepad, remote, light pen, light gun, infrared remote, jog dial, shuttle, and knob), keyboard, graphics tablet, digital pen, gesture recognition devices, magnetic ink character recognition, Sip-and-Puff (SNP) device, and Language Acquisition Device (LAD). o High degree of freedom devices, which require up to six degrees of freedom such as, but not limited to, camera gimbals, Cave Automatic Virtual Environment (CAVE), and virtual reality systems. o Video Input devices are used to digitize images or video from the outside world into the computing device 1100. The information can be stored in a multitude of formats depending on the user's requirement. Examples of types of video input devices include, but are not limited to, digital camera, digital camcorder, portable media player, webcam, Microsoft Kinect, image scanner, fingerprint scanner, barcode reader, 3D scanner, laser rangefinder, eye gaze tracker, computed tomography, magnetic resonance imaging, positron emission tomography, medical ultrasonography, TV tuner, and iris scanner. o Audio input devices are used to capture sound. In some cases, an audio output device can be used as an input device to capture produced sound. Audio input devices allow a user to send audio signals to the computing device 1100 for at least one of processing, recording, and carrying out commands. Devices such as microphones allow users to speak to the computer to record a voice message or navigate software. Aside from recording, audio input devices are also used with speech recognition software. Examples of types of audio input devices include, but not limited to microphone, Musical Instrumental Digital Interface (MIDI) devices such as, but not limited to a keyboard, and headset. o Data AcQuisition (DAQ) devices convert at least one of analog signals and physical parameters to digital values for processing by the computingdevice 1100. Examples of DAQ devices may include, but not limited to, Analog to Digital Converter (ADC), data logger, signal conditioning circuitry, multiplexer, and Time to Digital Converter (TDC).• Output Devices may further comprise, but not be limited to: o Display devices may convert electrical information into visual form, such as, but not limited to, monitor, TV, projector, and Computer Output Microfilm (COM). Display devices can use a plurality of underlying technologies, such as, but not limited to, Cathode-Ray Tube (CRT), Thin- Film Transistor (TFT), Liquid Crystal Display (LCD), Organic Light- Emitting Diode (OLED), MicroLED, E Ink Display (ePaper) and Refreshable Braille Display (Braille Terminal). o Printers, such as, but not limited to, inkjet printers, laser printers, 3D printers, solid ink printers, and plotters. o Audio and Video (AV) devices, such as, but not limited to, speakers, headphones, amplifiers, and lights, which include lamps, strobes, DJ lighting, stage lighting, architectural lighting, special effect lighting, and lasers. o Other devices such as Digital to Analog Converter (DAC)• Input I Output Devices may further comprise, but not be limited to, touchscreens, networking devices (e.g., devices disclosed in network submodule 1162), data storage devices (non-volatile storage 1161), facsimile (FAX), and graphics / sound cards.

[0095] All rights, including copyrights in the code included herein, are vested in and the property of the Applicant. The Applicant retains and reserves all rights in the code included herein, and grants permission to reproduce the material only in connection with the reproduction of the granted patent and for no other purpose.V. ASPECTS

[0096] The following discloses various Aspects of the present disclosure. The various Aspects are not to be construed as patent claims unless the language of the Aspect appears as a patent claim. The Aspects describe various non-limiting embodiments of the present disclosure.Aspect 1. A robotic end effector comprising: a housing configured to attach to a robotic motion system; a gripping panel coupled to the housing; a secondary gripping mechanism coupled to the housing, the secondary gripping mechanism comprising: an appendage having a grip surface and an arcuate portion, and a motor configured to move the appendage in a direction transverse to a face of the gripping panel, between an extended position and a stored position; and at least one retention support coupled to the gripping panel, wherein the appendage and the at least one retention support define a space therebetween for retaining an object when the appendage is in the extended position.Aspect 2. The robotic end effector of Aspect 1, wherein the motor is an electric motor.Aspect 3. The robotic end effector of Aspect 2, further comprising: a computer system configured to control the electric motor; and a relative position device configured to allow the computer system to determine a relative position of an output shaft of the electric motor.Aspect 4. The robotic end effector of Aspect 3, wherein the computer system is configured to: measure a current draw of the electric motor; and determine whether a secure grip on an object has been achieved based on the measured current draw.Aspect 5. The robotic end effector of Aspect 1, wherein the motor is a pneumatic motor.Aspect 6. The robotic end effector of Aspect 5, further comprising a computer system configured to: adjust and monitor a pressure of the pneumatic motor; compare an expected pressure to an actual system pressure; and determine whether a secure grip on an object has been achieved based on the comparison.Aspect 7. The robotic end effector of Aspect 1, wherein the arcuate portion of the appendage comprises a hook.Aspect 8. The robotic end effector of Aspect 1, wherein the at least one retention support comprises an inward facing chamfer cut configured to direct a convex part to a center of the retention support.Aspect 9. The robotic end effector of Aspect 1, further comprising a mounting block coupled to the housing, the mounting block configured to interface with the robotic motion system.Aspect 10. The robotic end effector of Aspect 9, wherein the mounting block is customizable to correspond with mounting features of different robotic motion systems.Aspect 11. A robotic gripping system comprising: a first robotic end effector according to Aspect 1; and a second robotic end effector according to Aspect 1, wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.Aspect 12. The robotic gripping system of Aspect 11, wherein the system is configured to grasp an object between the inward-facing gripping panels.Aspect 13. A method of manipulating an object using one or more robotic end effectors, the method comprising: detecting a first object; based on one or more features of the first object, positioning the one or more robotic end effectors above the detected first object; extending an appendage of a secondary gripping mechanism of each of the one or more robotic end effectors to an extended position; moving the one or more robotic end effectors towards the object until contact is sensed; moving the one or more appendages towards a stored position until the first object is grasped between the appendage and at least one retention support of the one or more robotic end effectors.Aspect 14. The method of Aspect 13, wherein the one or more end effectors comprises a pair of end effectors having inward-facing gripping surfaces, the method further comprising: detecting a second object; based on one or more features of the second object, positioning the pair of robotic end effectors so as to partially surround the detected second object; moving the pair of robotic end effectors inwardly towards the second object until contact is sensed, such that the second object is grasped between gripping surfaces of the pair of robotic end effectors.Aspect 15. The method of Aspect 13, further comprising: measuring a current draw of a motor used to operate the secondary gripping mechanism; and determining whether a secure grip on the object has been achieved based on the measured current draw.Aspect 16. The method of Aspect 13, further comprising:adjusting and monitoring a pressure of a pneumatic system used to operate the secondary gripping mechanism; comparing an expected pressure to an actual system pressure; and determining whether a secure grip on the object has been achieved based on the comparison.Aspect 17. A robotic end effector comprising: a housing; a gripping panel coupled to the housing; a secondary gripping mechanism coupled to the housing, the secondary gripping mechanism comprising: an appendage movable between an extended position and a stored position, and an actuator configured to move the appendage; and wherein the appendage is configured to cooperate with the gripping panel to retain an object therebetween when the appendage is in the extended position.Aspect 18. The robotic end effector of Aspect 17, wherein the actuator comprises a motor.Aspect 19. The robotic end effector of Aspect 18, further comprising: a controller configured to control the motor; and a position sensor configured to allow the controller to determine a position of the appendage.Aspect 20. The robotic end effector of Aspect 19, wherein the controller is configured to: measure an operating parameter of the motor; and determine whether a secure grip on an object has been achieved based on the measured operating parameter.Aspect 21. The robotic end effector of Aspect 17, wherein the appendage comprises an arcuate portion configured to hook an object.Aspect 22. A robotic gripping system comprising: a first robotic end effector comprising: a first housing configured to attach to a robotic motion system; a first gripping panel coupled to the first housing; a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage having a first grip surface and a first arcuate portion; a first motor configured to move the first appendage in a direction transverse to a face of the first gripping panel between an extended position and a stored position; and at least one first retention support coupled to the first gripping panel; a second robotic end effector comprising: a second housing configured to attach to the robotic motion system; a second gripping panel coupled to the second housing; a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage having a second grip surface and a second arcuate portion; a second motor configured to move the second appendage in a direction transverse to a face of the second gripping panel between an extended position and a stored position; and at least one second retention support coupled to the second gripping panel; wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.Aspect 23. The robotic gripping system of Aspect 22, wherein:the first appendage and the at least one first retention support of the first robotic end effector define a first space therebetween for retaining an object when the first appendage is in the extended position; and the second appendage and the at least one second retention support of the second robotic end effector define a second space therebetween for retaining an object when the second appendage is in the extended position.Aspect 24. The robotic gripping system of Aspect 22, further comprising a controller configured to: control the first and second motors to coordinate movement of the first and second appendages; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.Aspect 25. The robotic gripping system of Aspect 24, wherein the controller is further configured to: measure operating parameters of the first and second motors; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.Aspect 26. The robotic gripping system of Aspect 22, wherein the first and second arcuate portions each comprise a hook configured to engage loops or protrusions on an object to be grasped.Aspect 27. A method of manipulating an object using a robotic gripping system, the method comprising: detecting an object; positioning a first robotic end effector and a second robotic end effector above the detected object, wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward;adjusting a distance between the inward-facing gripping panels of the first and second robotic end effectors based on a size of the detected object; extending a first appendage of the first robotic end effector and a second appendage of the second robotic end effector to extended positions; moving the first and second robotic end effectors towards the object until contact is sensed; moving the first and second appendages towards stored positions until the object is grasped between: the first appendage and at least one first retention support of the first robotic end effector, and the second appendage and at least one second retention support of the second robotic end effector.Aspect 28. The method of Aspect 27, further comprising: measuring operating parameters of motors used to operate the first and second appendages; and determining whether a secure grip on the object has been achieved based on the measured operating parameters.Aspect 29. The method of Aspect 27, wherein the first and second appendages each comprise an arcuate portion, and wherein grasping the object comprises engaging loops or protrusions on the object with the arcuate portions.Aspect 30. The method of Aspect 27, further comprising coordinating movement of the first and second appendages to manipulate the grasped object.Aspect 31. The method of Aspect 27, further comprising: determining characteristics of the detected object, including at least one of: shape, size, weight, or presence of graspable features; andselecting a gripping strategy based on the determined characteristics, wherein the gripping strategy defines the distance between the inward-facing gripping panels and positions of the first and second appendages.Aspect 32. A robotic end effector system comprising: a first robotic end effector comprising: a first housing configured to attach to a robotic motion system, a first gripping panel coupled to the first housing, and a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage movable between an extended position and a stored position, and a first actuator configured to move the first appendage; a second robotic end effector comprising: a second housing configured to attach to the robotic motion system, a second gripping panel coupled to the second housing, and a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage movable between an extended position and a stored position, and a second actuator configured to move the second appendage; wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.Aspect 33. The robotic end effector system of Aspect 32, wherein: the first appendage is configured to cooperate with the first gripping panel to retain a first portion of an object therebetween when the first appendage is in the extended position; andthe second appendage is configured to cooperate with the second gripping panel to retain a second portion of the object therebetween when the second appendage is in the extended position.Aspect 34. The robotic end effector system of Aspect 32, further comprising a controller configured to: control the first and second actuators to coordinate movement of the first and second appendages; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.Aspect 35. The robotic end effector system of Aspect 34, wherein the controller is further configured to: measure operating parameters of the first and second actuators; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.Aspect 36. The robotic end effector system of Aspect 32, wherein the first and second appendages each comprise an arcuate portion configured to engage loops or protrusions on an object to be grasped.Aspect 37. A robotic end effector system comprising: a first robotic arm; a first end effector coupled to the first robotic arm, the first end effector comprising: a first housing, a first gripping panel coupled to the first housing, and a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage movable between an extended position and a stored position, anda first actuator configured to move the first appendage; a second robotic arm; a second end effector coupled to the second robotic arm, the second end effector comprising: a second housing, a second gripping panel coupled to the second housing, and a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage movable between an extended position and a stored position, and a second actuator configured to move the second appendage; wherein the first and second end effectors are positionable to face each other with their respective gripping panels facing inward, and wherein the first and second robotic arms are operable to adjust a distance between the inward-facing gripping panels of the first and second end effectors.Aspect 38. The robotic end effector system of Aspect 37, wherein: the first appendage is configured to cooperate with the first gripping panel to retain a first portion of an object therebetween when the first appendage is in the extended position; and the second appendage is configured to cooperate with the second gripping panel to retain a second portion of the object therebetween when the second appendage is in the extended position.Aspect 39. The robotic end effector system of Aspect 37, further comprising a controller configured to: control the first and second robotic arms to coordinate movement of the first and second end effectors; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.Aspect 40. The robotic end effector system of Aspect 39, wherein the controller is further configured to: measure operating parameters of the first and second actuators; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.Aspect 41. The robotic end effector system of Aspect 37, wherein the first and second appendages each comprise an arcuate portion configured to engage loops or protrusions on an object to be grasped.Aspect 42. A method of manipulating an object using a robotic end effector system, the method comprising: detecting an object; positioning a first end effector coupled to a first robotic arm and a second end effector coupled to a second robotic arm to face each other with their respective gripping panels facing inward; adjusting a distance between the inward-facing gripping panels of the first and second end effectors based on a size of the detected object by operating the first and second robotic arms; gripping the object using the first end effector and the second end effector.Aspect 43. The method of Aspect 42, wherein gripping the object comprises: extending a first appendage of the first end effector and a second appendage of the second end effector to extended positions; moving the first and second end effectors towards the object until contact is sensed; moving the first and second appendages towards stored positions until the object is grasped between: the first appendage and a first gripping panel of the first end effector, and the second appendage and a second gripping panel of the second end effector.Aspect 44. The method of Aspect 42, wherein gripping the object comprises: moving the first and second end effectors towards the object until contact is sensed; coordinating movement of the first and second end effectors such that: the first end effector moves towards the second end effector, and the second end effector moves towards the first end effector, such that the object is grasped between the first end effector and the second end effector.Aspect 45. The method of Aspect 42, further comprising: measuring operating parameters of actuators used to operate the first and second appendages; and determining whether a secure grip on the object has been achieved based on the measured operating parameters.Aspect 46. The method of Aspect 42, wherein the first and second appendages each comprise an arcuate portion, and wherein grasping the object comprises engaging loops or protrusions on the object with the arcuate portions.Aspect 47. The method of Aspect 42, further comprising coordinating movement of the first and second robotic arms to manipulate the grasped object.Aspect 48. The method of Aspect 42, further comprising: determining characteristics of the detected object, including at least one of: shape, size, weight, or presence of graspable features; and selecting a gripping strategy based on the determined characteristics, wherein the gripping strategy defines the distance between the inward-facing gripping panels and positions of the first and second appendages.Aspect 49. A robotic end effector system comprising:a first robotic end effector comprising: a first gripping panel coupled to the first housing, and a first secondary gripping mechanism movable between a stored position and an extended position; a second robotic end effector comprising: a second gripping panel coupled to the second housing, and a second secondary gripping mechanism movable between a stored position and an extended position; wherein the first and second robotic end effectors are symmetrically disposable with their respective gripping panels facing each other, and wherein the first and second robotic end effectors are movable to adjust a distance between the facing gripping panels.Aspect 50. The robotic end effector system of Aspect 49, further comprising: at least one first retention support coupled to the first gripping panel; and at least one second retention support coupled to the second gripping panel, wherein the first secondary gripping mechanism and the at least one first retention support define a first space therebetween for retaining a first portion of an object when the first secondary gripping mechanism is in extended position, and wherein the second movable between a stored position and an extended position and the at least one second retention support define a second space therebetween for retaining a second portion of the object when the second movable between a stored position and an extended position is in the extended position.Aspect 51. The robotic end effector system of Aspect 49, further comprising a controller configured to: control and coordinate movement of the first and second secondary gripping mechanisms; and adjust the distance between the facing gripping panels based on a size of an object to be grasped.VI. CLAIMS

[0097] While the specification includes examples, the disclosure’s scope is indicated by the following claims. Furthermore, while the specification has been described in language specific to structural features and / or methodological acts, the claims are not limited to the features or acts described above. Rather, the specific features and acts described above are disclosed as examples for embodiments of the disclosure.

[0098] Insofar as the description above and the accompanying drawing disclose any additional subject matter that is not within the scope of the claims below, the disclosures are not dedicated to the public and the right to file one or more applications to claims such additional disclosures is reserved.

[0099] While robotic end effectors with secondary gripper mechanisms have been described in connection with the various embodiments of the various figures, it is to be understood that other similar embodiments may be used or modifications and additions may be made to the described embodiments of robotic end effectors with secondary gripper mechanisms without deviating therefrom. Therefore, robotic end effectors with secondary gripper mechanisms as described herein should not be limited to any single embodiment, but rather should be construed in breadth and scope in accordance with the appended claims.

Claims

THE FOLLOWING IS CLAIMED:

1. A robotic end effector comprising: a housing configured to attach to a robotic motion system; a gripping panel coupled to the housing; a secondary gripping mechanism coupled to the housing, the secondary gripping mechanism comprising: an appendage having a grip surface and an arcuate portion, and a motor configured to move the appendage in a direction transverse to a face of the gripping panel, between an extended position and a stored position; and at least one retention support coupled to the gripping panel, wherein the appendage and the at least one retention support define a space therebetween for retaining an object when the appendage is in the extended position.

2. The robotic end effector of claim 1, wherein the motor is an electric motor.

3. The robotic end effector of claim 2, further comprising: a computer system configured to control the electric motor; and a relative position device configured to allow the computer system to determine a relative position of an output shaft of the electric motor.

4. The robotic end effector of claim 3, wherein the computer system is configured to: measure a current draw of the electric motor; and determine whether a secure grip on an object has been achieved based on the measured current draw.

5. The robotic end effector of claim 1, wherein the motor is a pneumatic motor.

6. The robotic end effector of claim 5, further comprising a computer system configured to: adjust and monitor a pressure of the pneumatic motor; compare an expected pressure to an actual system pressure; and determine whether a secure grip on an object has been achieved based on the comparison.

7. The robotic end effector of claim 1, wherein the arcuate portion of the appendage comprises a hook.

8. The robotic end effector of claim 1, wherein the at least one retention support comprises an inward facing chamfer cut configured to direct a convex part to a center of the retention support.

9. The robotic end effector of claim 1, further comprising a mounting block coupled to the housing, the mounting block configured to interface with the robotic motion system.

10. The robotic end effector of claim 9, wherein the mounting block is customizable to correspond with mounting features of different robotic motion systems.

11. A robotic gripping system comprising: a first robotic end effector according to claim 1; and a second robotic end effector according to claim 1, wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.

12. The robotic gripping system of claim 11, wherein the system is configured to grasp an object between the inward-facing gripping panels.

13. A method of manipulating an object using one or more robotic end effectors, the method comprising: detecting a first object; based on one or more features of the first object, positioning the one or more robotic end effectors above the detected first object; extending an appendage of a secondary gripping mechanism of each of the one or more robotic end effectors to an extended position; moving the one or more robotic end effectors towards the object until contact is sensed; and moving the one or more appendages towards a stored position until the first object is grasped between the appendage and at least one retention support of the one or more robotic end effectors.

14. The method of claim 13, wherein the one or more end effectors comprises a pair of end effectors having inward-facing gripping surfaces, the method further comprising: detecting a second object; based on one or more features of the second object, positioning the pair of robotic end effectors so as to partially surround the detected second object; and moving the pair of robotic end effectors inwardly towards the second object until contact is sensed, such that the second object is grasped between gripping surfaces of the pair of robotic end effectors.

15. The method of claim 13, further comprising: measuring a current draw of a motor used to operate the secondary gripping mechanism; and determining whether a secure grip on the object has been achieved based on the measured current draw.

16. The method of claim 13, further comprising:adjusting and monitoring a pressure of a pneumatic system used to operate the secondary gripping mechanism; comparing an expected pressure to an actual system pressure; and determining whether a secure grip on the object has been achieved based on the comparison.

17. A robotic end effector comprising: a housing; a gripping panel coupled to the housing; a secondary gripping mechanism coupled to the housing, the secondary gripping mechanism comprising: an appendage movable between an extended position and a stored position, and an actuator configured to move the appendage; and wherein the appendage is configured to cooperate with the gripping panel to retain an object therebetween when the appendage is in the extended position.

18. The robotic end effector of claim 17, wherein the actuator comprises a motor.

19. The robotic end effector of claim 18, further comprising: a controller configured to control the motor; and a position sensor configured to allow the controller to determine a position of the appendage.

20. The robotic end effector of claim 19, wherein the controller is configured to: measure an operating parameter of the motor; and determine whether a secure grip on an object has been achieved based on the measured operating parameter.

21. The robotic end effector of claim 17, wherein the appendage comprises an arcuate portion configured to hook an object.

22. A robotic gripping system comprising: a first robotic end effector comprising: a first housing configured to attach to a robotic motion system; a first gripping panel coupled to the first housing; a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage having a first grip surface and a first arcuate portion; a first motor configured to move the first appendage in a direction transverse to a face of the first gripping panel between an extended position and a stored position; and at least one first retention support coupled to the first gripping panel; a second robotic end effector comprising: a second housing configured to attach to the robotic motion system; a second gripping panel coupled to the second housing; a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage having a second grip surface and a second arcuate portion; a second motor configured to move the second appendage in a direction transverse to a face of the second gripping panel between an extended position and a stored position; and at least one second retention support coupled to the second gripping panel; wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.

23. The robotic gripping system of claim 22, wherein: the first appendage and the at least one first retention support of the first robotic end effector define a first space therebetween for retaining an object when the first appendage is in the extended position; and the second appendage and the at least one second retention support of the second robotic end effector define a second space therebetween for retaining an object when the second appendage is in the extended position.

24. The robotic gripping system of claim 22, further comprising a controller configured to: control the first and second motors to coordinate movement of the first and second appendages; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.

25. The robotic gripping system of claim 24, wherein the controller is further configured to: measure operating parameters of the first and second motors; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.

26. The robotic gripping system of claim 22, wherein the first and second arcuate portions each comprise a hook configured to engage loops or protrusions on an object to be grasped.

27. A method of manipulating an object using a robotic gripping system, the method comprising: detecting an object; positioning a first robotic end effector and a second robotic end effector above the detected object, wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward;adjusting a distance between the inward-facing gripping panels of the first and second robotic end effectors based on a size of the detected object; extending a first appendage of the first robotic end effector and a second appendage of the second robotic end effector to extended positions; moving the first and second robotic end effectors towards the object until contact is sensed; moving the first and second appendages towards stored positions until the object is grasped between: the first appendage and at least one first retention support of the first robotic end effector, and the second appendage and at least one second retention support of the second robotic end effector.

28. The method of claim 27, further comprising: measuring operating parameters of motors used to operate the first and second appendages; and determining whether a secure grip on the object has been achieved based on the measured operating parameters.

29. The method of claim 27, wherein the first and second appendages each comprise an arcuate portion, and wherein grasping the object comprises engaging loops or protrusions on the object with the arcuate portions.

30. The method of claim 27, further comprising coordinating movement of the first and second appendages to manipulate the grasped object.

31. The method of claim 27, further comprising: determining characteristics of the detected object, including at least one of: shape, size, weight, or presence of graspable features; andselecting a gripping strategy based on the determined characteristics, wherein the gripping strategy defines the distance between the inward-facing gripping panels and positions of the first and second appendages.

32. A robotic end effector system comprising: a first robotic end effector comprising: a first housing configured to attach to a robotic motion system, a first gripping panel coupled to the first housing, and a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage movable between an extended position and a stored position, and a first actuator configured to move the first appendage; a second robotic end effector comprising: a second housing configured to attach to the robotic motion system, a second gripping panel coupled to the second housing, and a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage movable between an extended position and a stored position, and a second actuator configured to move the second appendage; wherein the first and second robotic end effectors are symmetrically disposed with their respective gripping panels facing inward, and wherein the first and second robotic end effectors are movable to adjust a distance between the inward-facing gripping panels.

33. The robotic end effector system of claim 32, wherein: the first appendage is configured to cooperate with the first gripping panel to retain a first portion of an object therebetween when the first appendage is in the extended position; andthe second appendage is configured to cooperate with the second gripping panel to retain a second portion of the object therebetween when the second appendage is in the extended position.

34. The robotic end effector system of claim 32, further comprising a controller configured to: control the first and second actuators to coordinate movement of the first and second appendages; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.

35. The robotic end effector system of claim 34, wherein the controller is further configured to: measure operating parameters of the first and second actuators; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.

36. The robotic end effector system of claim 32, wherein the first and second appendages each comprise an arcuate portion configured to engage loops or protrusions on an object to be grasped.

37. A robotic end effector system comprising: a first robotic arm; a first end effector coupled to the first robotic arm, the first end effector comprising: a first housing, a first gripping panel coupled to the first housing, and a first secondary gripping mechanism coupled to the first housing, the first secondary gripping mechanism comprising: a first appendage movable between an extended position and a stored position, anda first actuator configured to move the first appendage; a second robotic arm; a second end effector coupled to the second robotic arm, the second end effector comprising: a second housing, a second gripping panel coupled to the second housing, and a second secondary gripping mechanism coupled to the second housing, the second secondary gripping mechanism comprising: a second appendage movable between an extended position and a stored position, and a second actuator configured to move the second appendage; wherein the first and second end effectors are positionable to face each other with their respective gripping panels facing inward, and wherein the first and second robotic arms are operable to adjust a distance between the inward-facing gripping panels of the first and second end effectors.

38. The robotic end effector system of claim 37, wherein: the first appendage is configured to cooperate with the first gripping panel to retain a first portion of an object therebetween when the first appendage is in the extended position; and the second appendage is configured to cooperate with the second gripping panel to retain a second portion of the object therebetween when the second appendage is in the extended position.

39. The robotic end effector system of claim 37, further comprising a controller configured to: control the first and second robotic arms to coordinate movement of the first and second end effectors; and adjust the distance between the inward-facing gripping panels based on a size of an object to be grasped.

40. The robotic end effector system of claim 39, wherein the controller is further configured to: measure operating parameters of the first and second actuators; and determine whether a secure grip on an object has been achieved based on the measured operating parameters.

41. The robotic end effector system of claim 37, wherein the first and second appendages each comprise an arcuate portion configured to engage loops or protrusions on an object to be grasped.

42. A method of manipulating an object using a robotic end effector system, the method comprising: detecting an object; positioning a first end effector coupled to a first robotic arm and a second end effector coupled to a second robotic arm to face each other with their respective gripping panels facing inward; adjusting a distance between the inward-facing gripping panels of the first and second end effectors based on a size of the detected object by operating the first and second robotic arms; and gripping the object using the first end effector and the second end effector.

43. The method of claim 42, wherein gripping the object comprises: extending a first appendage of the first end effector and a second appendage of the second end effector to extended positions; moving the first and second end effectors towards the object until contact is sensed; moving the first and second appendages towards stored positions until the object is grasped between: the first appendage and a first gripping panel of the first end effector, and the second appendage and a second gripping panel of the second end effector.

44. The method of claim 42, wherein gripping the object comprises: moving the first and second end effectors towards the object until contact is sensed; coordinating movement of the first and second end effectors such that: the first end effector moves towards the second end effector, and the second end effector moves towards the first end effector, such that the object is grasped between the first end effector and the second end effector.

45. The method of claim 42, further comprising: measuring operating parameters of actuators used to operate the first and second appendages; and determining whether a secure grip on the object has been achieved based on the measured operating parameters.

46. The method of claim 42, wherein the first and second appendages each comprise an arcuate portion, and wherein grasping the object comprises engaging loops or protrusions on the object with the arcuate portions.

47. The method of claim 42, further comprising coordinating movement of the first and second robotic arms to manipulate the grasped object.

48. The method of claim 42, further comprising: determining characteristics of the detected object, including at least one of: shape, size, weight, or presence of graspable features; and selecting a gripping strategy based on the determined characteristics, wherein the gripping strategy defines the distance between the inward-facing gripping panels and positions of the first and second appendages.

49. A robotic end effector system comprising: a first robotic end effector comprising:a first gripping panel coupled to the first housing, and a first secondary gripping mechanism movable between a stored position and an extended position; a second robotic end effector comprising: a second gripping panel coupled to the second housing, and a second secondary gripping mechanism movable between a stored position and an extended position; wherein the first and second robotic end effectors are symmetrically disposable with their respective gripping panels facing each other, and wherein the first and second robotic end effectors are movable to adjust a distance between the facing gripping panels.

50. The robotic end effector system of claim 49, further comprising: at least one first retention support coupled to the first gripping panel; and at least one second retention support coupled to the second gripping panel, wherein the first secondary gripping mechanism and the at least one first retention support define a first space therebetween for retaining a first portion of an object when the first secondary gripping mechanism is in extended position, and wherein the second movable between a stored position and an extended position and the at least one second retention support define a second space therebetween for retaining a second portion of the object when the second movable between a stored position and an extended position is in the extended position.

51. The robotic end effector system of claim 49, further comprising a controller configured to: control and coordinate movement of the first and second secondary gripping mechanisms; and adjust the distance between the facing gripping panels based on a size of an object to be grasped.

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