Real-time robotics control framework

US12011832B2 · kind B2 · utility

Assignee

• Intrinsic Innovation LLC · US

Inventors

• Andre Gaschler · Munich, DE
• Gregory J. Prisament · East Palo Alto, US
• Sean Alexander Cassero · Palo Alto, US
• Nicholas Julian Cox · Mountain View, US
• Benjamin Bremer · Ottobrunn, DE
• Nils Berg · Karlsruhe, DE
• Michael Beardsworth · San Francisco, US

Key dates

• Filing date: Apr 30, 2021
• Grant date: Jun 18, 2024
• Expiry date: Dec 7, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/50391
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.