公开(公告)号：US20210197368A1

公开(公告)日：2021-07-01

申请号：US16731531

申请日：2019-12-31

Applicant: X Development LLC

Inventor： Andre Gaschler ,  Tim Niemueller

IPC: B25J9/16 ,  B25J13/08

Abstract: This specification describes how a system can detect that an envelope invariant with a corresponding condition has been violated and, in response to the detection, perform an automatic recovery action.

公开(公告)号：US20220402123A1

公开(公告)日：2022-12-22

申请号：US17353609

申请日：2021-06-21

Applicant: X Development LLC

Inventor： Tim Niemueller ,  Ryan Butterfoss

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for state estimation in a robotics system. One of the systems includes an execution subsystem configured to drive one or more robots in an operating environment including continually evaluating a plurality of execution predicates, wherein each execution predicate comprises a rule having a predicate value, and wherein, whenever a state value that satisfies the predicate value of the predicate is detected by the execution subsystem, the execution subsystem is configured to trigger a corresponding action to be performed in the operating environment by the one or more robots. A state estimator is configured to continually execute a state estimation function using one or more sensor values or status messages obtained from the operating environment and to automatically update a discrete state value for a first execution predicate of the plurality of execution predicates evaluated by the execution subsystem.

公开(公告)号：US20210370502A1

公开(公告)日：2021-12-02

申请号：US16885015

申请日：2020-05-27

Applicant: X Development LLC

Inventor： Tim Niemueller

IPC: B25J9/16 ,  B25J13/00 ,  H04L29/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for rule execution in an online robotics system. One of the systems includes an execution engine subsystem and an execution memory subsystem. The execution engine receives rules having types and subtypes that represent a particular entity in an operating environment of a robot, provides subscription requests to the execution memory subsystem, and receives events emitted by the execution memory subsystem. The an execution memory receives subscription requests from the execution engine subsystem, receives new observations, converts the new observations into fact updates, performs pattern matching with the fact updates against the patterns of the subscription requests, and emits events to the execution engine subsystem for patterns that have been matched by the fact updates.

公开(公告)号：US20210197378A1

公开(公告)日：2021-07-01

申请号：US16728660

申请日：2019-12-27

Applicant: X Development LLC

Inventor： Ralf Oliver Michael Schönherr ,  Tim Niemueller ,  Andre Gaschler

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing online robotic motion planning from pre-generated motion plans. A library of pre-generated motion plans for performing a particular task is maintained. Each pre-generated motion plan comprises a plurality of waypoints and one or more actions. One or more present observations of a robot in a workcell are obtained. The one or more observations are classified. A pre-generated candidate motion plan that matches the labels assigned to the present observations of the robot in the workcell is selected from the library of pre-generated motion plans. The pre-generated candidate motion plan is adapted according to the present observations of the robot in the workcell to generate a final motion plan to be executed by the robot.