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公开(公告)号：US12017364B2
公开(公告)日：2024-06-25
申请号：US17604285
申请日：2020-04-15
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , B25J9/1666 , G05B2219/40099
摘要： A processor-based system provides a user interface to facilitate generation of motion planning graphs or roadmaps, for example via autonomous generate of additional poses, for example neighboring poses, based on specified seed or origin pose, and/or generate or sub-lattice connecting poses and/or edges to couple separate regions or sub-lattices of the motion planning graph together. Such may include performing collision-checking and/or kinematic checking (e.g., taking into account kinematic constraints of robots being modeled). The resulting motion planning graphs or roadmaps are useful in controlling robots during runtime. Robots may include robots with appendages and/or robots in the form of autonomous vehicles.
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12.发明公开公开(公告)号：US20240009845A1
公开(公告)日：2024-01-11
申请号：US18039814
申请日：2021-12-01
发明人： William Floyd-Jones , Sean Murray , Ty Tremblay
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1697
摘要： Systems, methods and user interfaces employ clearance or margin determinations in motion planning and motion control for robots in operational environments, the clearance or margin determinations representing an amount of clearance or margin between at least one portion of a robot and one or more objects in the operational environment. Clearances may be displayed in a presentation of motion, for instance displayed in a presentation of a roadmap or a number of paths in a representation of a three-dimensional environment in which the robot operates. Roadmaps may be adjusted based at least in part of determined clearances, for instance based on user input or autonomously.
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公开(公告)号：US20210220994A1
公开(公告)日：2021-07-22
申请号：US17153662
申请日：2021-01-20
发明人： Luca Colasanto , Sean Murray
摘要： Solutions for multi-robot configurations are co-optimized, to at least some degree, across a set of non-homogenous parameters based on a given set of tasks to be performed by robots in a multi-robot operational environment. Non-homogenous parameters may include two or more of: the respective base position and orientation of the robots, an allocation of tasks to respective robots, respective target sequences and/or trajectories for the robots. Such may be executed pre-runtime. Output may include for each robot: workcell layout, an ordered list or vector of targets, optionally dwell time durations at respective targets, and paths or trajectories between each pair of consecutive targets. Output may provide a complete, executable, solution to the problem, which in the absence of variability in timing, can be used to control the robots without any modification. A genetic algorithm, e.g., Differential Evolution, may optionally be used in generating a population of candidate solutions.
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14.发明申请公开(公告)号：US20190240835A1
公开(公告)日：2019-08-08
申请号：US16268290
申请日：2019-02-05
CPC分类号： B25J9/1666 , B25J9/1671 , G05D1/0214
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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15.发明授权公开(公告)号：US11738457B2
公开(公告)日：2023-08-29
申请号：US16981467
申请日：2019-03-19
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
CPC分类号： B25J9/1666 , B25J9/0093 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0019 , B25J15/04 , B25J17/02
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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公开(公告)号：US20220193911A1
公开(公告)日：2022-06-23
申请号：US17604285
申请日：2020-04-15
IPC分类号： B25J9/16
摘要： A processor-based system provides a user interface to facilitate generation of motion planning graphs or roadmaps, for example via autonomous generate of additional poses, for example neighboring poses, based on specified seed or origin pose, and/or generate or sub-lattice connecting poses and/or edges to couple separate regions or sub-lattices of the motion planning graph together. Such may include performing collision-checking and/or kinematic checking (e.g., taking into account kinematic constraints of robots being modeled). The resulting motion planning graphs or roadmaps are useful in controlling robots during runtime. Robots may include robots with appendages and/or robots in the form of autonomous vehicles.
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公开(公告)号：US20220080594A1
公开(公告)日：2022-03-17
申请号：US17532648
申请日：2021-11-22
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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18.发明申请公开(公告)号：US20210023706A1
公开(公告)日：2021-01-28
申请号：US16981467
申请日：2019-03-19
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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