公开(公告)号：US20220402135A1

公开(公告)日：2022-12-22

申请号：US17353620

申请日：2021-06-21

Applicant: X Development LLC

Inventor： Benjamin Bremer ,  Torsten Kroeger

IPC: B25J9/16 ,  G05B19/4155

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating safety trajectories. One of the methods comprises causing, by a robotic control system, execution of a robotic control plan by a plurality of robotic components in a robotic execution environment; generating a safety trajectory at each of a plurality of time points during the execution of the robotic control plan, including: obtaining data identifying a current position of a particular robotic component of the plurality of robotic components; generating, using the obtained data, a safety trajectory for the particular robotic component; and providing the safety trajectory to an emergency control system; determining that an emergency condition has been met; and in response, transferring control of the particular robotic component from the robotic control system to the emergency control system, comprising causing, by the emergency control system, execution of the safety trajectory by the particular robotic component.