Humanoid robot with vacuum end effector

Abstract

A humanoid robot includes a torso; at least one arm appendage coupled to the torso; and a vacuum end effector assembly. The vacuum end effector assembly includes at least one vacuum pump, and a vacuum end effector coupled to the at least one arm appendage. The vacuum end effector includes a paddle that includes at least one suction ring that includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a hose such that, during operation of the at least one vacuum pump, a suction effect is created at the at least one suction ring of the vacuum end effector. The paddle includes at least one taper.

Description

Attorney Docket No.: 54248-0022WO1HUMANOID ROBOT WITH VACUUM END EFFECTOR TECHNICAL FIELD

[0001] The present disclosure describes humanoid or partial humanoid robots that include at least one vacuum end effector.BACKGROUND

[0002] Vacuum-based end effectors used on industrial manipulators typically generate vacuum through the Bernoulli principle due to the common presence of compressed air lines in industrial settings. With positive pressurized air, valves are used to generate negative pressure via the Bernoulli principle. This can require a high flow rate air flow, which is accomplished with a large, offboard (e.g., facility-wide) air compressor. Due to the large heavy offboard infrastructure required, the Bernoulli based vacuum end effector approach is not used on mobile robots or autonomous robotic systems.SUMMARY

[0003] In an example implementation, a humanoid robot includes a torso; at least one arm appendage coupled to the torso; and a vacuum end effector assembly. The vacuum end effector assembly includes at least one vacuum pump, and a vacuum end effector coupled to the at least one arm appendage. The vacuum end effector includes a paddle that includes at least one suction ring that includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a hose such that, during operation of the at least one vacuum pump, a suction effect is created at the at least one suction ring of the vacuum end effector. The paddle includes at least one taper.

[0004] In an aspect combinable with the example implementation, the at least one taper extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end.

[0005] In another aspect combinable with one, some, or all of the previous aspects, the at least one taper extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

[0006] In another aspect combinable with one, some, or all of the previous aspects, the at least one taper includes a first taper that extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end; and a secondAttorney Docket No.: 54248-0022WO1taper that extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

[0007] In another aspect combinable with one, some, or all of the previous aspects, the first and second tapers begin at or adjacent a middle portion of the paddle and run toward the terminal end from the middle portion of the paddle.

[0008] In another aspect combinable with one, some, or all of the previous aspects, the first taper includes a width reduction of the paddle from the base end to the terminal end of between 40 and 60%.

[0009] In another aspect combinable with one, some, or all of the previous aspects, the second taper includes a thickness reduction of the paddle from the palm side and the top side and between the middle portion to the terminal end of between 50% and 200%.

[0010] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring is inset into a recess formed on a palm side of the paddle.

[0011] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring includes three suction rings inset into the recess formed on the palm side of the paddle in a triangular pattern.

[0012] In another aspect combinable with one, some, or all of the previous aspects, at least a portion of the palm side of the paddle includes a gripping surface.

[0013] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring is inset into the recess such that the suction ring is co-planar or substantially co-planar with the gripping surface.

[0014] In another aspect combinable with one, some, or all of the previous aspects, the gripping surface includes a surface pattern oriented to resist sliding in a direction due to gravity.

[0015] In another aspect combinable with one, some, or all of the previous aspects, the surface pattern has a height of 0.5 mm to 3 mm.

[0016] In another aspect combinable with one, some, or all of the previous aspects, the paddle is pivotably coupled to the at least one arm appendage.

[0017] In another aspect combinable with one, some, or all of the previous aspects, a magnitude of the suction effect is controllable based at least in part on a material type of an object to which the suction effect is applied.Attorney Docket No.: 54248-0022WO1

[0018] In another aspect combinable with one, some, or all of the previous aspects, the hose is coupled to a port of the vacuum end effector and the at least one vacuum pump.

[0019] In another aspect combinable with one, some, or all of the previous aspects, the at least one vacuum pump is mounted to the torso.

[0020] Another aspect combinable with one, some, or all of the previous aspects includes one or more batteries configured to power the humanoid robot, and the at least one vacuum pump is electrically coupled to the one or more batteries.

[0021] In another aspect combinable with one, some, or all of the previous aspects, the at least one vacuum pump is integrated into the at least one arm appendage.

[0022] In another aspect combinable with one, some, or all of the previous aspects, the at least one arm appendage includes a forearm, and the vacuum end effector is pivotably coupled to the forearm.

[0023] In another aspect combinable with one, some, or all of the previous aspects, the at least one arm appendage includes a first arm appendage and a second arm appendage.

[0024] In another aspect combinable with one, some, or all of the previous aspects, the vacuum end effector assembly includes a first vacuum end effector coupled to the first arm appendage, the first vacuum end effector including a first paddle and a first plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a first hose such that, during operation of the at least one vacuum pump, the suction effect is created at the first plurality of suction rings of the first vacuum end effector, the first paddle including the at least one taper; and a second vacuum end effector coupled to the second arm appendage, the second vacuum end effector including a second paddle and a second plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a second hose such that, during operation of the at least one vacuum pump, the suction effect is created at the second plurality of suction rings of the second vacuum end effector, the second paddle including the at least one taper.

[0025] In another aspect combinable with one, some, or all of the previous aspects, the first and second vacuum end effectors are rotatably coupled to the respective first and second arm appendages, and each of the first and second vacuum end effectors is configured to rotate or pivot from the respective first and second arm appendages to an orientation such that the first and secondAttorney Docket No.: 54248-0022WO1paddles are spaced apart and angularly oriented in parallel to attach to opposing sides of a consumer product.

[0026] In another aspect combinable with one, some, or all of the previous aspects, the consumer product includes a cubic or cuboid shape.

[0027] In another example implementation, a method of operating a humanoid robot includes registering a humanoid robot in a workflow. The humanoid robot includes a torso, at least one arm appendage coupled to the torso, and a vacuum end effector coupled to the at least one arm appendage. The vacuum end effector includes a paddle that includes at least one suction ring that includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a hose. The paddle includes at least one taper. The method includes operating the at least one vacuum pump to generate an airflow into the vacuum inlet, through the hose, and to the at least one vacuum pump; and creating a suction effect at the at least one suction ring by generating the airflow.

[0028] In an aspect combinable with the example implementation, the at least one taper extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end.

[0029] In another aspect combinable with one, some, or all of the previous aspects, the at least one taper extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

[0030] In another aspect combinable with one, some, or all of the previous aspects, the at least one taper includes a first taper that extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end; and a second taper that extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

[0031] In another aspect combinable with one, some, or all of the previous aspects, the first and second tapers begin at or adjacent a middle portion of the paddle and run toward the terminal end from the middle portion of the paddle.

[0032] In another aspect combinable with one, some, or all of the previous aspects, the first taper includes a width reduction of the paddle from the base end to the terminal end of between 40 and 60%.Attorney Docket No.: 54248-0022WO1

[0033] In another aspect combinable with one, some, or all of the previous aspects, the second taper includes a thickness reduction of the paddle from the palm side and the top side and between the middle portion to the terminal end of between 50% and 200%.

[0034] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring is inset into a recess formed on a palm side of the paddle.

[0035] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring includes three suction rings inset into the recess formed on the palm side of the paddle in a triangular pattern.

[0036] In another aspect combinable with one, some, or all of the previous aspects, at least a portion of the palm side paddle includes a gripping surface.

[0037] In another aspect combinable with one, some, or all of the previous aspects, the at least one suction ring is inset into the recess such that the suction ring is co-planar or substantially co-planar with the gripping surface.

[0038] In another aspect combinable with one, some, or all of the previous aspects, the gripping surface includes a surface pattern oriented to resist sliding in a direction due to gravity.

[0039] In another aspect combinable with one, some, or all of the previous aspects, the surface pattern has a height of 0.5 mm to 3 mm.

[0040] Another aspect combinable with one, some, or all of the previous aspects includes operating the vacuum end effector to pivot the paddle on the at least one arm appendage.

[0041] Another aspect combinable with one, some, or all of the previous aspects includes controlling a magnitude of the suction effect based at least in part on a material type of an object to which the suction effect is applied.

[0042] In another aspect combinable with one, some, or all of the previous aspects, the hose is coupled to a port of the vacuum end effector and the at least one vacuum pump.

[0043] In another aspect combinable with one, some, or all of the previous aspects, the at least one vacuum pump is mounted to the torso.

[0044] Another aspect combinable with one, some, or all of the previous aspects includes powering the at least one vacuum pump and the humanoid robot with one or more batteries mounted on the humanoid robot.

[0045] In another aspect combinable with one, some, or all of the previous aspects, the at least one vacuum pump is integrated into the at least one arm appendage.Attorney Docket No.: 54248-0022WO1

[0046] In another aspect combinable with one, some, or all of the previous aspects, the at least one arm appendage includes a forearm, and the vacuum end effector is pivotably coupled to the forearm.

[0047] In another aspect combinable with one, some, or all of the previous aspects, the at least one arm appendage includes a first arm appendage and a second arm appendage.

[0048] In another aspect combinable with one, some, or all of the previous aspects, the vacuum end effector includes a first vacuum end effector coupled to the first arm appendage, the first vacuum end effector including a first paddle and a first plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a first hose such that, during operation of the at least one vacuum pump, the suction effect is created at the first plurality of suction rings of the first vacuum end effector, the first paddle including the at least one taper, and a second vacuum end effector coupled to the second arm appendage, the second vacuum end effector including a second paddle and a second plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a second hose such that, during operation of the at least one vacuum pump, the suction effect is created at the second plurality of suction rings of the second vacuum end effector, the second paddle including the at least one taper.

[0049] Another aspect combinable with one, some, or all of the previous aspects includes operating the at least one vacuum pump to generate the airflow into the vacuum inlets of the first and second plurality of suction rings, through the first and second hoses, and to the at least one vacuum pump; and creating the suction effect at the first and second plurality of suction rings by generating the airflow.

[0050] In another aspect combinable with one, some, or all of the previous aspects, the first and second vacuum end effectors are rotatably coupled to the respective first and second arm appendages.

[0051] Another aspect combinable with one, some, or all of the previous aspects includes rotating or pivoting the first and second arm appendages to an orientation such that the first and second paddles are spaced apart and angularly oriented in parallel to attach to opposing sides of a consumer product.

[0052] In another aspect combinable with one, some, or all of the previous aspects, the consumer product includes a cubic or cuboid shape.Attorney Docket No.: 54248-0022WO1

[0053] The details of one or more implementations of the subject matter described in this disclosure are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will become apparent from the description, the drawings, and the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0054] FIGS. 1A and 1B are example implementations of a humanoid robot according to the present disclosure.

[0055] FIG. 2 is a schematic illustration of an example implementation of a vacuum end effector for a humanoid robot according to the present disclosure.

[0056] FIG. 3 is a schematic illustration of an example implementation of a vacuum end effector assembly that includes a vacuum end effector for a humanoid robot according to the present disclosure.

[0057] FIG. 4 is a schematic illustration of a portion of a humanoid robot that includes an example implementation of a vacuum end effector assembly that includes a vacuum end effector according to the present disclosure.

[0058] FIG. 5 is a schematic illustration of a humanoid robot carrying a commercial product using a vacuum end effector assembly that includes multiple vacuum end effectors according to the present disclosure.

[0059] FIG. 6 is a schematic illustration of a humanoid robot carrying multiple commercial products using a vacuum end effector assembly on multiple appendages according to the present disclosure.DETAILED DESCRIPTION

[0060] FIGS. 1A and 1B illustrate example implementations of a humanoid robot 100 according to the present disclosure. As shown, the humanoid robot 100 can include a torso 102 and lower body 102, with appendages (e.g., legs 114, feet, arms 108 and forearms 110, hands 112, head 106) that mimic or otherwise resemble and functional similarly to the corresponding human body appendages. The humanoid robot 100 can include multifunction movement, such as: walking, squatting, bending at waist, kneeling, torso rotation, head rotation, lifting (from ground or another support surface such as a lift truck or mezzanine, to torso height, above head), carrying (e.g., commercial product 105 as shown in FIG. 1B) as well as other movements that mimic humanAttorney Docket No.: 54248-0022WO1natural movement). In addition, in some aspects, the humanoid robot 100 can include visual image sensing and recognition (e.g., built into the head 106 or otherwise), radar, or lidar to detect objects within its path. As such, the humanoid robot 100 can be distinguished from other autonomous robots, which can have movement capability (e.g., through wheels, tracks, rollers, or other nonhumanlike apparatus) but do not include humanlike appendages. Example autonomous robots can be, for example robots made by Fetch Robotics, Mobile Industrial Robots, OTTO Robotics or otherwise.

[0061] Humanoid robot 100 can be implemented in a workflow in a commercial environment that includes multiple robots 100. Such a commercial environment can also optionally include autonomous robots such as, for example, order picker lift trucks, autonomous guided vehicle, in addition to humanoid robots 100 according to the present disclosure. For example, a commercial environment can be a warehouse (in any industry) or other facility (construction warehouse, shipping center, packaging center, warehouse, distribution or fulfdlment center, manufacturing facility or otherwise) in which one or more commercial products (i.e., products sold or otherwise transferred in commerce) are gathered and stored (at least transiently) and arranged in combinations for sale, shipping, further distribution channels, or packaging. An example workflow can integrate humanoid robots 100 and other robots to implement, for example, a case picking process.

[0062] In some aspects, such as in a case-picking process, a Warehouse Management System (WMS) or Warehouse Execution System (WES) directs the humanoid robots 100 with a correct sequence of donor pallets to pick cases in a correct order so that the cases can be layered correctly on a pallet (heavy cases on the bottom or departmental-based loading as examples). In example case picking processes, a WMS or WES directs the humanoid robot to pick a specific number of cases from a donor pallet and place on the pallet on the autonomous order picker lift truck. Either the WMS or WES software, or the software platform associated with the humanoid robot, will direct the proper placement of each case on the order pallet to create the correct layers on the order or receiving pallet. After picking and placing the appropriate number of cases in the correct location(s) on the order or receiving pallet, the autonomous order picker lift truck repositions itself and the humanoid robot to the next pick location where the process repeats across several pick locations until the order or receiving pallet is completed. Example implementations of a case picking at height process that integrates humanoid robots with autonomous order pickerAttorney Docket No.: 54248-0022WO1lift trucks fully automates the case picking at height process and eliminates the dangerous work of humans picking at height while also ensuring that cases are layered in the proper order on order or receiving pallets.

[0063] A WMS, WES or WCS can be, for example, a microprocessor based control system that controls the operations of the humanoid robots 100 (and optionally other autonomous robots) according to software instructions executable by the WMS, WES or WCS. In some aspects, the WMS, WES or WCS controls operations of the humanoid robots 100 and autonomous robots to move commercial products 105 from donor pallets to order pallets (e.g., in specified quantities and in a specified order of loading) in order to fulfill a commercial transaction or otherwise. In some aspects, WMS, WES or WCS can be a physically separate control system that communicates (e.g., wired or wirelessly) with the humanoid robots 100 and other autonomous robots. Alternatively, some or all of the functionality (e.g., processing capability, memory storage, communications, software instructions) can be located in one or more of the humanoid robots 100 (such as, for example, within a head or torso of a humanoid robot). Thus, in some aspects, one or more of the humanoid robots 100 can act as the WMS to control the humanoid robots 100 and autonomous robots.

[0064] In some aspects of an example workflow of a commercial environment, the WMS, WES or WCS canidentify or register all of the humanoid robots 100 and autonomous robots within a warehouse or other volume (e.g., in order to determine which of the robots are activated or operable). The WMS, WES or WCS can then communicate with autonomous robots and direct autonomous robots toward the donor pallets (e.g., in some cases, subsequent to picking up an empty order pallet) in order to load an empty order pallet with commercial products 105 to fulfdl a specified transaction. In some aspects, the WMS, WES or WCS directs autonomous robots toward a particular donor pallet (and subsequently to other donor pallets in a specific order) based on a size or weight (or both) of the commercial product supported on the particular donor pallets.

[0065] For example, in loading an empty order pallet, it may be beneficial or advantageous to load commercial product heaviest (or largest) to lightest (or smallest) according to cubing functionality built into or interfaced with the WMS, WES or WCS. In such aspects, lighter commercial product may not be crushed or damaged by later-loaded and heavier commercial product. In some instances, the WMS can provide one or more autonomous robot and / or one or more humanoid robots 100 one or more tasks. In some aspects, such as with the inclusion ofAttorney Docket No.: 54248-0022WO1cubing functionality, the WMS, WES or WCS can instruct, e.g., the humanoid robots 100 told to pick multiple cases and place them on a pallet, with a location specificity of placement on the pallet varying depending on the aforementioned criteria.

[0066] After an autonomous robot is directed to a particular donor pallet, such as a donor pallet to pick up commercial product 105, the WMS controls humanoid robots 100 at the donor pallet to pick a specific number of commercial product 105 from the donor pallet and place the picked commercial product 105 onto the order pallet. In some aspects, the WMS directs a humanoid robot 100 to remain close to the donor pallet until the autonomous robot has stopped at a specific location to ensure that the humanoid robot 100 does not trigger a safety field of the autonomous robot. In some aspects, the WMS or controller of the humanoid robot 100 (e.g., in the head or torso of the humanoid robot 100) directs a proper placement of each commercial product 105 on the order pallet to create the correct layers of product on the order pallet. After picking and placing the appropriate number of commercial product 105 in the correct location(s) on the order pallet, the humanoid robot 100 repositions itself close to the donor pallet (e.g., at pallet racking or shelving) so that the autonomous robot can leave the area around the donor pallet without its safety field being triggered.

[0067] The previously described operations can be repeated at one or more additional donor pallets. For example, the autonomous robot can next be directed to donor pallet to pick up commercial product 105. If the order pallet is complete, the autonomous robot can move the order pallet toward a location in the warehouse in which the order pallet can be shipped or otherwise packaged.

[0068] In a case picking process or other operation the humanoid robot 100 can utilize end effectors that resemble or approximate human hands to grasp and support a commercial product 105 such as is shown in FIG. IB. For example, each arm of the humanoid robot 100 shown in FIGS. 1A and 1B ends in an end effector that resembles or approximates a human hand. However, in some example operations of the humanoid robot 100, it can be advantageous for the humanoid robot 100 to include an end effector attached to one or more arms (or more specifically, forearms) that is different than a human-like hand end effector. For example, a vacuum end effector can be implemented in place of (or, in some aspects, in addition to) a hand end effector for the humanoid robot 100. In example implementations of a vacuum end effector according to the presentAttorney Docket No.: 54248-0022WO1disclosure, a vacuum pump based end effector can be coupled or attached to an appendage of the humanoid robot 100, such as the forearm of the humanoid robot 100.

[0069] In example implementations, the vacuum pump based end effector avoids the Bernoulli principle vacuum end effector and therefore can us a relatively smaller vacuum pump (e.g., air compressor) as compared to facility-sized air compressors that are typically used in industrial vacuum end effectors. Thus, the vacuum pump for a vacuum end effector according to the present disclosure can be used and mounted somewhere on the humanoid robot 100. By combining vacuum end effectors onto the humanoid robot 100, the humanoid robot 100 can benefit from the advantages of vacuum based grasping approaches as opposed to friction or other grasping strategies used by a hand or claw end effector that require access to multiple sides of an object (such as commercial product 105).

[0070] FIG. 2 is a schematic illustration of an example implementation of a vacuum end effector 200 for a humanoid robot according to the present disclosure. In this example implementation, the vacuum end effector 200 includes a paddle 202 that is mountable or attachable to a forearm 110 of the humanoid robot 100. The paddle 202, as shown, can be pivotable in multiple dimensions relative to the forearm 110, either by one or more electric (linear and / or rotary) actuators or other motive source. Inset, in this example, in the paddle 202 is one or more (three in this example) suction rings 204. In this example, each suction ring 204 includes a vacuum inlet 206 positioned at or substantially at a radial center of the suction ring 204. As explained more fully herein, airflow can be drawn into the vacuum inlets 206 (e.g., by a vacuum pump coupled to or mounted on the humanoid robot 100) to create a suction or vacuum effect at the suction rings 204.

[0071] In this example implementation, the suction rings 204 at which the suction is created facilitate a suction-attachment to another object. For example, turning briefly to FIG. 5, the example humanoid robot 100 is shown having a vacuum end effector 200 mounted to each forearm (one shown in photo). The vacuum end effectors 200, in operation, function to “grip” or otherwise suction attach to the commercial product 105 (in this example, a shipping or storage box made from corrugated board or an otherwise cubic or cuboid shaped object). The humanoid robot 100, with the vacuum end effectors 200 gripping the commercial product 105, can therefore lift and move the commercial product 105.Attorney Docket No.: 54248-0022WO1

[0072] In this example, the use of the vacuum end effectors 200 to grip or suction attach to the commercial product 105 (as a cubic or cuboid-shaped object with multiple relatively flat or planar surfaces) can be more advantageous than the use of human hand-like end effectors for the humanoid robot 100. For instance, if the humanoid robot 100 included hand or claw end effectors, the humanoid robot 100 would need to engage an edge of the commercial product 105 rather than a flat side of the commercial product 105. This can be difficult. With the vacuum end effectors 200, however, the humanoid robot 100 can engage any flat surface or side of the commercial product 105 to attach thereto.

[0073] As further shown in FIG. 5, the vacuum end effectors 200 are manipulated (e.g., by activating a rotary actuator 119 to rotate the paddles 202) to suction attach to opposing sides of the commercial product 105. In this position as shown in FIG. 5, each vacuum end effector 200 can be rotated (e.g., parallel or substantially parallel (within degrees) with gravity) to suction or otherwise attach to sides 111 of the commercial product 105.

[0074] Turning back to FIG. 2, the paddle 202 is generally triangular in shape with a base end 203 that is wider (with width 251) than a terminal end 205 (with width 253). As shown in this example, two suction rings 204 with corresponding vacuum inlets 206 are positioned at the base end 203, while a single suction ring 204 / vacuum inlet 206 is positioned at the terminal end 205 to form a generally triangular configuration. In some aspects, the single suction ring 204 / vacuum inlet 206 can be larger (e.g., with a greater suction force) as compared to the dual suction rings 204 / vacuum inlets 206 positioned at the base end 203.

[0075] In some examples, the width 251 at the terminal end 205 is between 40%-60% of the width 253 at the base end 203. In some examples, the width 251 at the terminal end 205 is approximately 50% of the width 253 at the base end 203.

[0076] As shown in FIG. 2, the paddle 202 has a tapered profile wherein a thickness 257 at a middle portion 263 (e.g., between the terminal end 205 and the base end 203) is between 2 to 4 times greater than a thickness 255 at the terminal end 205 (i.e., a thickness reduction of between 50% and 200%). An angled transition portion 261 connects the terminal end 205 to the middle portion 263, creating a gradual reduction in thickness toward the terminal end 205. This tapered configuration allows the terminal end 205 to access confined spaces, such as the spaces between boxes on a pallet, while maintaining the necessary space for the suction rings 204 and vacuum inlet 206 in the middle portion 263.Attorney Docket No.: 54248-0022WO1

[0077] In some examples, the middle portion 263 has a thickness 257 of approximately 4 cm, while the terminal end 205 has a thickness 255 of approximately 1 cm. The angled transition portion 261 can extend along 30-50% of the paddle’s length and form an angle 267 of, e.g., 20-30 degrees.

[0078] The reduced thickness at the terminal end 205 and the reduced width at the terminal end 205 facilitates insertion into narrow gaps or along tight edges. In such configurations, the single suction ring 204 / vacuum inlet 206 can be capable of lifting, moving, or otherwise attaching to an object in a limited space into which the whole paddle 202 cannot reach. For instance, in a de-palletizing operation in which the humanoid robot 100 is removing commercial product 105 from a pallet with little to no space between such product 105, the narrower and thinner terminal end 205 (and single suction ring 204 / vacuum inlet 206) can be useful to moving the commercial product 105 from the pallet.

[0079] Thus, in the example implementation of the vacuum end effector 200 of the present disclosure, the paddle 202 can include at least one, and optionally, two or more, tapers that are formed by the varying (e.g., decreasing) thickness between a palm side 233 (shown in FIG. 2) and a top side 235 (shown in FIG. 3) of the paddle 202 and varying (e.g., decreasing) width from the base end 203 to the terminal end 205. The thickness of the paddle 202 begins to vary (in this example) from the middle portion 263 to the terminal end 205. For instance, a taper 275 is formed by the decreasing width from the base end 203 to the terminal end 205. Further, a taper 277 is formed by the decreasing thickness between the palm side 233 and the top side 235.

[0080] In some aspects, the paddle 202 can include or be formed only with the taper 277 (excluding taper 275). Alternatively, the paddle 202 can include or be formed only with the taper 275 (excluding taper 277). But as shown in this example, the paddle includes both tapers 275 and 277, thereby forming the paddle 202 in a wedge or substantially wedge shape to facilitate lifting, moving, or otherwise attaching to an object in a limited space into which the whole paddle 202 cannot reach.

[0081] As shown in the example of FIG. 2, the tapers 275 and 277 begin at the middle portion 263 and run toward (and to) the terminal end 205. Although not shown, a third taper (in a direction orthogonal to both tapers 275 and 277) can also be formed on the paddle 202, thereby creating, e.g., a point at a corner of the terminal end 205.Attorney Docket No.: 54248-0022WO1

[0082] As further shown in FIG. 2, in an example implementation, a friction or gripping material 207 can be installed on or otherwise positioned on the paddle 202 to surround the suction rings 204 / vacuum inlets 206. For instance, here, the friction or gripping material 207 can be installed at the terminal end 205 as well as on pads 209 at or near the base end 203. In example aspects, the friction or gripping material 207 can be a rubber, tacky, or tactile material with a relatively high friction constant (e.g., relative to the material of the section rings 204). As such, the friction or gripping material 207 can help the paddle 202 attach, adhere, or otherwise suction to an object during operation of the vacuum inlets 206.

[0083] In some examples, the friction or gripping material 207 can include a textured surface pattern to increase gripping performance, particularly with cardboard and similar materials. Example surface patterns include raised bumps or nubs arranged in a regular array and / or chevron or herringbone ridges oriented to resist sliding in a primary direction). In example embodiments, the surface pattern features have a height of 0.5 mm to 3 mm.

[0084] As such, the friction or gripping material 207 can help the paddle 202 prevent a box from slipping from engaging contact with the paddle 202. For instance, the surface patterns of the gripping material 207 can be oriented or formed so as to resist slippage between the paddle 202 and the commercial product 105 due to the force of gravity (G, shown in FIG. 5). In some examples, after a commercial product box is lifted, the vacuum force can be turned off and the box can be held by two paddles 202 with a combination of the gripping material 207 and non-vacuum force (e.g., squeezing) exerted by the paddles 202 against the box.

[0085] In this example of the vacuum end effector 200, one, some, or all of the suction rings 204 are inset into the paddle 202 in a recessed portion 231 of the paddle 202. As shown, the recessed portion 231 is formed on the palm side 233 of the paddle 202 (opposite the top side 235, shown in FIG. 3). By being inset into the recessed portion 231, the suction ring(s) 204 may be coplanar with the palm side 233 and, for example, co-planar or substantially (e.g., within millimeters or less) co-planar with the gripping material 207.

[0086] As further shown in FIG. 2, in example aspects, the paddle 202 can include a feedback sensor 211 installed, e.g., at or near the terminal end 205. Feedback sensor 211 can include, for example, an image sensor (e.g., camera, IR detector, etc.), flow sensor to detect an amount of vacuum flow generated by the vacuum inlets 206, temperature sensor, or any otherAttorney Docket No.: 54248-0022WO1number of sensors that allow for feedback of an environment around or near the vacuum end effector 200 to be provided to the humanoid robot 100.

[0087] For example, as a flow sensor, the feedback sensor 211 may detect a loss of airflow / vacuum effect from one, some, or all of the suction rings 204 / vacuum inlets 206 by measuring a flow of air therein. In some aspects, the loss of flow may indicate an error or problem with a mechanism of the vacuum end effector 200 (or the humanoid robot 100). In some aspects, a loss or reduction of the flow of air may indicate a type or porosity of material of the object to be gripped by the vacuum end effector 200.

[0088] Based on the sensor information from the feedback sensor 211, a controller of the humanoid robot 100 can select or adjust an appropriate flow rate to maintain adequate suction force for the detected material type. The selected flow rate can be configured to be greater for porous materials that allow air leakage through the material structure than for non-porous materials. For example, the controller may increase the flow rate to a first level for cardboard or corrugated materials to compensate for air loss through the material’s porous structure, while selecting a lower second flow rate for non-porous materials such as plastic, glass, or metal that form a more effective seal with the suction rings 204. In an example embodiment, the flow rate for cardboard may be 1.5 to 3 times greater than the flow rate for plastic to achieve equivalent holding force.

[0089] In additional or alternative aspects, the feedback sensor 211 can include a force sensor or strain gauge configured to detect a weight or mass of the object being gripped by the vacuum end effector 200. Based on the detected weight from the sensor data, the controller can dynamically adjust the flow rate to provide sufficient suction force to securely hold the object. Specifically, the controller increases the flow rate proportionally as the detected weight increases to prevent the object from slipping or detaching from the suction rings 204.

[0090] In example aspects, the feedback sensor 211 is an image sensor (e.g., a camera) located at or near the terminal end 205. The image sensor can be positioned such that its field of view is directed toward or along the terminal end 205 of the paddle 202, and in some embodiments, the image sensor may be positioned at the very terminal end 205 itself to provide a forward-facing perspective from the paddle 202. The image sensor captures visual data of the environment ahead of or surrounding the terminal end 205 to provide real-time visual feedback that can be used to guide the paddle 202 into confined spaces, such as narrow slots or gaps between adjacent boxes,Attorney Docket No.: 54248-0022WO1packages, or other objects. In example embodiments, the controller of the humanoid robot 100 uses the visual feedback to adjust the position or angle of the paddle 202 to successfully navigate into tight spaces.

[0091] The example forearm 110 shown in FIG. 2 includes multiple actuators that allow for three degrees of freedom (DoF) movement of the vacuum end effector 200. For example, two linear actuators 117 are coupled within the forearm 110 and to the vacuum end effector 200, and a rotary actuator 119 (not shown but located at an elbow of the forearm 110). The two linear actuators 117 provide for the degrees of freedom of pitch and yaw, with pitch being, e.g., 90-100° and yaw being, e.g., 30°. The rotary actuator 119 provides for the roll degree of freedom of 360°.

[0092] FIG. 3 is a schematic illustration of an example implementation of a vacuum end effector assembly that includes a vacuum end effector for a humanoid robot according to the present disclosure. For example, as shown in FIG. 3, the vacuum end effector 200 is coupled or mounted to the forearm 110. In this example, a hose 210 is coupled to a port 212 of the paddle 202 (on a side of the paddle 202 opposite the suction rings 204 as shown). The hose 210, therefore, is fluidly coupled to the port 212 and the vacuum inlets 206 (through the port 212). Although not shown in this figure, the hose 210 is also fluidly coupled to a vacuum pump. The vacuum pump, the hose 210, and the vacuum end effector 200 form a vacuum end effector assembly according to the present disclosure.

[0093] In some aspects, the hose 210 (or multiple hoses 210 per vacuum end effector 200 in some examples) can be routed from the port 212, through the forearm 110 so as not to be exposed externally from the humanoid robot 100. In some aspects, the hose 210 can be routed through a raceway 225 (shown in FIG. 2) adjacent the linear actuators 117 of the forearm 110. The hose 210 can also be routed, in some aspects, through a bore of the rotary actuator 119 positioned at the elbow of the forearm 110.

[0094] Turning to FIG. 4, this figure is a schematic illustration of a portion of a humanoid robot that includes an example implementation of a vacuum end effector assembly that includes a vacuum end effector according to the present disclosure. As shown in this example, a vacuum pump 220 is mounted on the humanoid robot 100 and, more specifically in this example, a back or shoulder portion of the humanoid robot 100. Thus, the example humanoid robot 100 according to the present disclosure includes an onboard (rather than external or facility) vacuum pump 220. The vacuum pump 220 can be powered (e.g., electrically) by one or more batteries that also powerAttorney Docket No.: 54248-0022WO1the humanoid robot 100. In some aspects, if the humanoid robot 100 is coupled to onshore power (such as through an electrical wired connection), the vacuum pump 220 can be powered by the onshore power. Although illustrated as mounted on a back or shoulder of the humanoid robot 100, the vacuum pump 220 can be integrated into or with the vacuum end effector 200 or mounted on another portion of the humanoid robot 100 (e.g., a leg appendage, the forearm 110, or otherwise).

[0095] As shown in FIG. 4 (and also with reference to FIGS. 2 and 3), the hose 210 is coupled to the vacuum pump 220 and, during operation of the pump 220 (e.g., as controlled by a controller of the humanoid robot 100 in the head 106 or otherwise), an airflow is generated by the vacuum pump 220 and drawn through the vacuum inlets 206, into and through the hose 210, and into the pump 220. The generated airflow creates a vacuum effect at the suction rings 204, thereby allowing the vacuum end effector 200 to grip or suction to an object.

[0096] In the case of two vacuum end effectors 200 (one at each forearm 110 of the humanoid robot 100), simultaneous airflows can be generated by the vacuum pump 220 and drawn through the vacuum inlets 206 of each vacuum end effector 200. There can be two hoses 210 (one per vacuum end effector 200) or a single hose 210 that is fluidly coupled to both ports 212 of the vacuum end effectors 200 as well as the vacuum pump 220. As another example, each vacuum inlet 206 can have a dedicated hose 210 (e.g., for redundancy purposes) so that, in this example, there can be three hoses 210 per vacuum end effector 200. The generated airflows create vacuum effects at the suction rings 204 of both vacuum end effectors 200, thereby allowing the vacuum end effectors 200 to grip or suction to two locations of an object (or to multiple objects).

[0097] For example, as shown in FIG. 6, the example humanoid robot 100 is shown having a vacuum end effector 200 mounted to each forearm (one shown in photo). The vacuum end effectors 200, in operation, function to “grip” or otherwise suction attach to multiple commercial product 105 (in this example, a shipping or storage box made from corrugated board). In this example, each vacuum end effector 200 can provide sufficient suction force to grip or otherwise lift a commercial product. The humanoid robot 100, with the vacuum end effectors 200 gripping the commercial product 105, can therefore lift and move multiple commercial product 105 (in this example, one per vacuum end effector 200).

[0098] In some examples, the humanoid robot 100 can use a single vacuum end effector 200 on one forearm to initially pick up and grip a commercial product 105, such as a box. The humanoid robot 100 can then position the second vacuum end effector 200 on the opposite forearmAttorney Docket No.: 54248-0022WO1on another surface of the commercial product 105 and activate its suction to establish a grip. Once the second vacuum end effector 200 has securely attached to the commercial product 105, the first vacuum end effector 200 can release its suction, effectively transferring or handing off the commercial product 105 from one hand to the other. This hand-off capability is particularly advantageous in confined or tight spaces where the humanoid robot 100 needs to reposition the commercial product 105 or reorient its grip without setting the commercial product 105 down.

[0099] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions or of what may be claimed, but rather as descriptions of features specific to particular implementations of particular inventions. Certain features that are described in this specification in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a sub combination.

[0100] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0101] A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. For example, example operations, methods, or processes described herein may include more steps or fewer steps than those described. Further, the steps in such example operations, methods, or processes may be performed in different successions than that describedAttorney Docket No.: 54248-0022WO1or illustrated in the figures. Accordingly, other implementations are within the scope of the following claims.

Claims

Attorney Docket No.: 54248-0022WO1WHAT IS CLAIMED IS:

1. A humanoid robot, comprising:a torso;at least one arm appendage coupled to the torso; anda vacuum end effector assembly, comprising:at least one vacuum pump, anda vacuum end effector coupled to the at least one arm appendage, the vacuum end effector comprising a paddle that includes at least one suction ring that includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a hose such that, during operation of the at least one vacuum pump, a suction effect is created at the at least one suction ring of the vacuum end effector, the paddle comprising at least one taper.

2. The humanoid robot of claim 1, wherein the at least one taper extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end.

3. The humanoid robot of claim 1, wherein the at least one taper extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

4. The humanoid robot of claim 1, wherein the at least one taper comprises:a first taper that extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end; anda second taper that extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

5. The humanoid robot of claim 4, wherein the first and second tapers begin at or adjacent a middle portion of the paddle and run toward the terminal end from the middle portion of the paddle.

6. The humanoid robot of claim 4, wherein the first taper comprises a width reduction of the paddle from the base end to the terminal end of between 40 and 60%.Attorney Docket No.: 54248-0022WO17. The humanoid robot of claim 4, wherein the second taper comprises a thickness reduction of the paddle from the palm side and the top side and between the middle portion to the terminal end of between 50% and 200%.

8. The humanoid robot of claim 1, wherein the at least one suction ring is inset into a recess formed on a palm side of the paddle.

9. The humanoid robot of claim 8, wherein the at least one suction ring comprises three suction rings inset into the recess formed on the palm side of the paddle in a triangular pattern.

10. The humanoid robot of claim 8, wherein at least a portion of the palm side of the paddle comprises a gripping surface.

11. The humanoid robot of claim 10, wherein the at least one suction ring is inset into the recess such that the suction ring is co-planar or substantially co-planar with the gripping surface.

12. The humanoid robot of claim 10, wherein the gripping surface comprises a surface pattern oriented to resist sliding in a direction due to gravity.

13. The humanoid robot of claim 12, wherein the surface pattern has a height of 0.5 mm to 3 mm.

14. The humanoid robot of claim 1, wherein the paddle is pivotably coupled to the at least one arm appendage.

15. The humanoid robot of claim 1, wherein a magnitude of the suction effect is controllable based at least in part on a material type of an object to which the suction effect is applied.

16. The humanoid robot of claim 1, wherein the hose is coupled to a port of the vacuum end effector and the at least one vacuum pump.

17. The humanoid robot of claim 1, wherein the at least one vacuum pump is mounted to the torso.Attorney Docket No.: 54248-0022WO118. The humanoid robot of claim 1, comprising one or more batteries configured to power the humanoid robot, and the at least one vacuum pump is electrically coupled to the one or more batteries.

19. The humanoid robot of claim 1, wherein the at least one vacuum pump is integrated into the at least one arm appendage.

20. The humanoid robot of claim 1, wherein the at least one arm appendage comprises a forearm, and the vacuum end effector is pivotably coupled to the forearm.

21. The humanoid robot of claim 1, wherein the at least one arm appendage comprises a first arm appendage and a second arm appendage, the vacuum end effector assembly comprising:a first vacuum end effector coupled to the first arm appendage, the first vacuum end effector comprising a first paddle and a first plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a first hose such that, during operation of the at least one vacuum pump, the suction effect is created at the first plurality of suction rings of the first vacuum end effector, the first paddle comprising the at least one taper; anda second vacuum end effector coupled to the second arm appendage, the second vacuum end effector comprising a second paddle and a second plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a second hose such that, during operation of the at least one vacuum pump, the suction effect is created at the second plurality of suction rings of the second vacuum end effector, the second paddle comprising the at least one taper.

22. The humanoid robot of claim 21, wherein the first and second vacuum end effectors are rotatably coupled to the respective first and second arm appendages, and each of the first and second vacuum end effectors is configured to rotate or pivot from the respective first and second arm appendages to an orientation such that the first and second paddles are spaced apart and angularly oriented in parallel to attach to opposing sides of a consumer product.

23. The humanoid robot of claim 22, wherein the consumer product comprises a cubic or cuboid shape.Attorney Docket No.: 54248-0022WO124. A method of operating a humanoid robot, comprising:registering a humanoid robot in a workflow, the humanoid robot comprising:a torso,at least one arm appendage coupled to the torso, anda vacuum end effector coupled to the at least one arm appendage, the vacuum end effector comprising a paddle that includes at least one suction ring that includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a hose, the paddle comprising at least one taper;operating the at least one vacuum pump to generate an airflow into the vacuum inlet, through the hose, and to the at least one vacuum pump; andcreating a suction effect at the at least one suction ring by generating the airflow.

25. The method of claim 24, wherein the at least one taper extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end.

26. The method of claim 24, wherein the at least one taper extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

27. The method of claim 24, wherein the at least one taper comprises:a first taper that extends from a base end of the paddle toward a terminal end of the paddle and has a decreasing width from the base end to the terminal end; anda second taper that extends from a top side of the paddle and a palm side of the paddle and has a decreasing thickness between the top side and the palm side.

28. The method of claim 27, wherein the first and second tapers begin at or adjacent a middle portion of the paddle and run toward the terminal end from the middle portion of the paddle.

29. The method of claim 27, wherein the first taper comprises a width reduction of the paddle from the base end to the terminal end of between 40 and 60%.Attorney Docket No.: 54248-0022WO130. The method of claim 27, wherein the second taper comprises a thickness reduction of the paddle from the palm side and the top side and between the middle portion to the terminal end of between 50% and 200%.

31. The method of claim 24, wherein the at least one suction ring is inset into a recess formed on a palm side of the paddle.

32. The method of claim 31, wherein the at least one suction ring comprises three suction rings inset into the recess formed on the palm side of the paddle in a triangular pattern.

33. The method of claim 31, wherein at least a portion of the palm side paddle comprises a gripping surface.

34. The method of claim 33, wherein the at least one suction ring is inset into the recess such that the suction ring is co-planar or substantially co-planar with the gripping surface.

35. The method of claim 33, wherein the gripping surface comprises a surface pattern oriented to resist sliding in a direction due to gravity.

36. The method of claim 35, wherein the surface pattern has a height of 0.5 mm to 3 mm.

37. The method of claim 24, comprising operating the vacuum end effector to pivot the paddle on the at least one arm appendage.

38. The method of claim 24, comprising controlling a magnitude of the suction effect based at least in part on a material type of an object to which the suction effect is applied.

39. The method of claim 24, wherein the hose is coupled to a port of the vacuum end effector and the at least one vacuum pump.

40. The method of claim 24, wherein the at least one vacuum pump is mounted to the torso.

41. The method of claim 24, comprising powering the at least one vacuum pump and the humanoid robot with one or more batteries mounted on the humanoid robot.Attorney Docket No.: 54248-0022WO142. The method of claim 24, wherein the at least one vacuum pump is integrated into the at least one arm appendage.

43. The method of claim 24, wherein the at least one arm appendage comprises a forearm, and the vacuum end effector is pivotably coupled to the forearm.

44. The method of claim 24, wherein:the at least one arm appendage comprises a first arm appendage and a second arm appendage, and the vacuum end effector comprises:a first vacuum end effector coupled to the first arm appendage, the first vacuum end effector comprising a first paddle and a first plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a first hose such that, during operation of the at least one vacuum pump, the suction effect is created at the first plurality of suction rings of the first vacuum end effector, the first paddle comprising the at least one taper, anda second vacuum end effector coupled to the second arm appendage, the second vacuum end effector comprising a second paddle and a second plurality of suction rings that each includes a vacuum inlet fluidly coupled to the at least one vacuum pump through a second hose such that, during operation of the at least one vacuum pump, the suction effect is created at the second plurality of suction rings of the second vacuum end effector, the second paddle comprising the at least one taper, and the method comprises:operating the at least one vacuum pump to generate the airflow into the vacuum inlets of the first and second plurality of suction rings, through the first and second hoses, and to the at least one vacuum pump; andcreating the suction effect at the first and second plurality of suction rings by generating the airflow.

45. The method of claim 44, wherein the first and second vacuum end effectors are rotatably coupled to the respective first and second arm appendages, and the method comprises:rotating or pivoting the first and second arm appendages to an orientation such that the first and second paddles are spaced apart and angularly oriented in parallel to attach to opposing sides of a consumer product.Attorney Docket No.: 54248-0022WO146. The method of claim 45, wherein the consumer product comprises a cubic or cuboid shape.

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