Robot base position planning
US12070859B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 23, 2022 |
| Grant date | Aug 27, 2024 |
| Priority date | — |
| Expiry date | Jan 26, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40364
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method includes receiving sensor data representative of surfaces in a physical environment containing an interaction point for a robotic device and determining, based on the sensor data, a height map of the surfaces in the physical environment. The method also includes determining, by inputting the height map and the interaction point into a pre-trained model, one or more candidate positions for a base of the robotic device to allow a manipulator of the robotic device to reach the interaction point. The method additionally includes determining a collision-free trajectory to be followed by the manipulator of the robotic device to reach the interaction point when the base of the robotic device is positioned at a selected candidate position of the one or more candidate positions and, based on determining the collision-free trajectory, causing the base of the robotic device to move to the selected candidate position within the physical environment.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.