公开(公告)号：US20230048578A1

公开(公告)日：2023-02-16

申请号：US17953344

申请日：2022-09-27

Applicant: Intel Corporation

Inventor： Leobardo Emmanuel CAMPOS MACIAS ,  David GOMEZ GUTIERREZ ,  Javier FELIP LEON ,  Jose Ignacio PARRA VILCHIS

IPC: G05B19/4155 ,  B25J9/16

Abstract: Disclosed herein are systems, devices, and methods for real-time determinations of likelihoods for possible trajectories of a collaborator in a workspace with a robot. The system determines a current kinematic state of the collaborator and determines a goal of the collaborator based on occupancy information about objects in the workspace. The system also determines a possible trajectory for the collaborator based on the goal and the current kinematic state and determines a short-horizon trajectory for the collaborator based on previously observed kinematic states of the collaborator towards the goal. The system also determines a likelihood that the collaborator will follow the possible trajectory based on the short-horizon trajectory, the goal, and the current kinematic state. The system also generates a movement instruction to control movement of the robot based on the likelihood that the collaborator will follow the possible trajectory.