Specialized robot motion planning hardware and methods of making and using same
US10723024B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 5, 2016 |
| Grant date | Jul 28, 2020 |
| Priority date | — |
| Expiry date | Apr 29, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/49
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.