Robot plan online adjustment
US11537130B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 27, 2019 |
| Grant date | Dec 27, 2022 |
| Priority date | — |
| Expiry date | Jun 14, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40519
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.