Offline robot planning with online adaptation
US12005585B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 27, 2019 |
| Grant date | Jun 11, 2024 |
| Priority date | — |
| Expiry date | Jul 28, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40507
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing online robotic motion planning from pre-generated motion plans. A library of pre-generated motion plans for performing a particular task is maintained. Each pre-generated motion plan comprises a plurality of waypoints and one or more actions. One or more present observations of a robot in a workcell are obtained. The one or more observations are classified. A pre-generated candidate motion plan that matches the labels assigned to the present observations of the robot in the workcell is selected from the library of pre-generated motion plans. The pre-generated candidate motion plan is adapted according to the present observations of the robot in the workcell to generate a final motion plan to be executed by the robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.