{
  "abstract": "A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.",
  "assignees": [
    "DEXTERITY INC"
  ],
  "authors": [
    "HOLMBERG ROBERT",
    "MATZLIACH GIL",
    "MENON SAMIR",
    "SINHA PRABHAT KUMAR",
    "SUN ZHOUWEN"
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  "published_at": "2026-09-15T19:10:47.922198Z",
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  "source_date": "2026-03-10",
  "source_id": "US-12569991-B2",
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  "title": "Variable payload robot",
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