公开(公告)号：US20210370504A1

公开(公告)日：2021-12-02

申请号：US16885035

申请日：2020-05-27

Applicant: X Development LLC

Inventor： Michael Beardsworth ,  Klas Jonas Alfred Kronander ,  Sean Alexander Cassero ,  Bala Venkata Sai Ravi Krishna Kolluri

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.