Concurrent path planning with one or more humanoid robots
US8731714B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 22, 2010 |
| Grant date | May 20, 2014 |
| Priority date | — |
| Expiry date | Aug 31, 2032 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1661
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.