An Adaptive Robotic Putter: Using Visual Input to Handle Putts Involving a Uniform Slope

Article transfer mechanism or apparatus for changing the direction of movement of articles while maintaining the orientation of the articles, including an infeed conveyor conveying articles in a first direction while in a predetermined orientation, a transfer conveyor having a continuous belt with a plurality of groups of rollers thereon with windows therebetween receiving articles from the infeed conveyor, a plate disposed below the lower reach of the transfer conveyor and closing at least one of the windows to provide a container for an article deposited thereon, structure for rotating the groups of rollers to cause the rollers to move an article deposited thereon into the adjacent window, an article conveyor having a plurality of pockets open at the top for receiving articles from the plate of a transfer conveyor for conveying the articles in a different direction from that of the infeed conveyor; there also is shown conveyors for equally spacing randomly spaced articles and for laterally aligning articles.