Robots That Grab Objects Without Knowing Their Exact Spot
Ocado's patent describes a robotic gripping system that can precisely manipulate objects of varying sizes and positions, even when the robot doesn't know the object's exact starting location.
Original patent title: “Robotic gripping device system and method”
Ocado's patent describes a robotic gripping system that can precisely manipulate objects of varying sizes and positions, even when the robot doesn't know the object's exact starting location. Owned by Ocado Innovation with 11 claims and 10 forward citations, and it is expected to expire in 2037.
Coverage
What does this patent actually cover?
This patent describes a robotic device, system, and method for manipulating objects. The core idea is a "motorised linkage" (like a robot arm or gripper finger) that can be precisely positioned by a controller, even when the "precise location of the object with reference to the device is unknown" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1). This means the robot doesn't need to know exactly where an item is before trying to grab it. For example, if a robot needs to pick up a box from a shelf, it doesn't need a perfect 3D scan of the box's exact coordinates. Instead, the device can use "force and/or torque controllable" joints (Claim 2) to adapt its grip once it makes contact, ensuring the grip is stable regardless of the initial contact point. This allows the robot to handle "plural inventory items located in a warehouse" (Claim 6) that might be slightly out of place or have different shapes.
The gap
What does this patent NOT cover?
- Gripping devices that require a precise, pre-known location of the object before manipulation.
- Robots that rely solely on vision systems to precisely locate objects before attempting to grip them.
- Gripping systems where the relationship of the linkage to the object *is* dependent on the initial contact position.
- Methods of manipulating objects without using a motorized linkage.
- Systems that do not include a software utility for controlling device movement.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The cleverness lies in enabling precise object manipulation *without* requiring precise prior knowledge of the object's exact location. By making the grip adaptable through force/torque control once contact is made, the robot can compensate for initial positional uncertainties, simplifying the overall picking process.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Automated warehouse picking robots
Robots handling varied inventory items in logistics centers
Robotic arms used for bin picking where items are loosely arranged
Ocado's automated grocery fulfillment centers
Why it matters
The bigger picture
This patent addresses a significant challenge in robotics: handling variability in object position and type. In environments like automated warehouses, items are rarely in perfectly predictable spots, and a wide range of products must be handled. This technology allows robots to be more flexible and robust, reducing the need for complex vision systems or highly structured environments. Ocado, as a major online grocer, faces this problem daily in its automated fulfillment centers.
Filed
February 1, 2017
Market context
Who's building on this
Companies in this space
Ocado Innovation Ltd, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is actively developing and deploying advanced robotics in its automated warehouses globally. Companies like Amazon Robotics, RightHand Robotics, and Berkshire Grey are also working on similar challenges in automated picking and manipulation for e-commerce and logistics. Many industrial robot manufacturers, such as Fanuc, KUKA, and ABB, integrate advanced gripping and sensing capabilities into their systems.
Market impact
This type of technology has enabled a significant shift in automated logistics, particularly for e-commerce. It allows warehouses to handle a much wider variety of products without needing highly specialized or custom grippers for each item. This flexibility reduces operational costs and increases throughput, making fully automated fulfillment centers more viable and efficient for companies like Ocado. It also reduces the reliance on highly structured environments, allowing for more dynamic and adaptable robotic deployments.
Claim 1 — Plain English
What this patent covers
This patent describes a robotic device, system, and method for manipulating objects. The core idea is a "motorised linkage" (like a robot arm or gripper finger) that can be precisely positioned by a controller, even when the "precise location of the object with reference to the device is unknown" (Claim 1). This means the robot doesn't need to know exactly where an item is before trying to grab it. For example, if a robot needs to pick up a box from a shelf, it doesn't need a perfect 3D scan of the box's exact coordinates. Instead, the device can use "force and/or torque controllable" joints (Claim 2) to adapt its grip once it makes contact, ensuring the grip is stable regardless of the initial contact point. This allows the robot to handle "plural inventory items located in a warehouse" (Claim 6) that might be slightly out of place or have different shapes.
The clever bit
The cleverness lies in enabling precise object manipulation *without* requiring precise prior knowledge of the object's exact location. By making the grip adaptable through force/torque control once contact is made, the robot can compensate for initial positional uncertainties, simplifying the overall picking process.
What it does not cover
- Gripping devices that require a precise, pre-known location of the object before manipulation.
- Robots that rely solely on vision systems to precisely locate objects before attempting to grip them.
- Gripping systems where the relationship of the linkage to the object *is* dependent on the initial contact position.
- Methods of manipulating objects without using a motorized linkage.
- Systems that do not include a software utility for controlling device movement.
Patent timeline
Application submitted to the patent office
Patent enters public domain
PatentBrief Score
Impact Score
Early stage
Citation count
21/40
Early citations
Claim breadth
7/20
Moderate scope
Recency
0/20
Older than 20 years
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$43K – $138K
Midpoint $86K · 10.3 yr remaining · industry ×0.9
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
11 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Deacon, G. Robots That Grab Objects Without Knowing Their Exact Spot (U.S. Patent No. 20,190,084,152). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/20190084152/robotic-gripping-device-system-and-method
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does Robots That Grab Objects Without Knowing Their Exact Spot cover?
Ocado's patent describes a robotic gripping system that can precisely manipulate objects of varying sizes and positions, even when the robot doesn't know the object's exact starting location.
Who owns patent US 20190084152?
This patent is owned by Ocado Innovation.
When does this patent expire?
This patent is expected to expire on February 1, 2037, when the invention enters the public domain.
What is patent US 20190084152 cited by?
This patent has been cited by 10 later patents that build on its ideas.
What problem does this patent solve?
This patent addresses a significant challenge in robotics: handling variability in object position and type. In environments like automated warehouses, items are rarely in perfectly predictable spots, and a wide range of products must be handled. This technology allows robots to be more flexible and robust, reducing the need for complex vision systems or highly structured environments. Ocado, as a major online grocer, faces this problem daily in its automated fulfillment centers.
What does this patent NOT cover?
Gripping devices that require a precise, pre-known location of the object before manipulation.
Patent monitoring