# 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. - **Patent:** US 20190084152 - **Original title:** Robotic gripping device system and method - **Owner:** Ocado Innovation - **Status:** Active - **Times cited:** 10 - **Field:** robotics, warehousing, automation, logistics, software ## What it does 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. ## 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. ## 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. ## Real-world examples 1. Automated warehouse picking robots 2. Robots handling varied inventory items in logistics centers 3. Robotic arms used for bin picking where items are loosely arranged 4. Ocado's automated grocery fulfillment centers ## Why it matters 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. ## 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. **Full plain-English explainer:** https://patentbrief.org/patent/us/20190084152/robotic-gripping-device-system-and-method **Original patent:** https://patents.google.com/patent/US20190084152 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [How a Robot Arm Can Be Manually Moved While Staying Safe](https://patentbrief.org/patent/us/12064197/system-and-methods-for-positioning-a-manipulator-arm-by-clutching-within-a-null-) — This patent describes how a robotic arm can be partly moved by a human, like pushing it, while the robot's computer automatically handles other movements to keep it stable or avoid obstacles. - [How Robots Figure Out What They're Carrying While Moving](https://patentbrief.org/patent/us/20250170731/dynamic-mass-estimation-methods-for-an-integrated-mobile-manipulator-robot) — This patent describes how a mobile robot can estimate the weight and balance of an object it's carrying *while moving it*, and then adjust its movements for better control and safety. - [Robot Design for Carrying Objects While Walking](https://patentbrief.org/patent/us/12246441/torso-protrusion-for-robotic-manipulation-of-objects-and-related-technology) — This patent describes a robot with a torso, legs, arms, and a special forward-extending protrusion designed to help it carry objects while it walks. - [How Robots and Mobile Shelves Fulfill Orders in Warehouses](https://patentbrief.org/patent/us/10947045/warehousing-and-order-fulfillment-systems-and-methods) — Target's patent describes an automated warehouse system where mobile robots bring shelves and shipping containers to a central robot that picks items directly into orders, all without human hands. - [How Warehouses Plan Pallet Stacks for Incoming Shipments](https://patentbrief.org/patent/us/11767169/warehousing-systems-and-methods) — This patent describes an automated warehouse system that plans how to stack incoming items onto pallets to perfectly fit available storage racks, and automatically sorts out incorrect items.