公开(公告)号：US10035266B1

公开(公告)日：2018-07-31

申请号：US15376011

申请日：2016-12-12

Applicant: X DEVELOPMENT LLC

Inventor： Torsten Kroeger

IPC: G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/39243

Abstract: Methods, apparatus, systems, and computer readable media are provided for generating a trajectory for a robot to enable a reference point of the robot to reach a target waypoint. A real time trajectory generator is utilized to generate a first segment of a trajectory toward a target waypoint. While the robot is traversing the first segment of the trajectory, a trajectory optimizer is utilized to generate a second segment of the trajectory from an “end point” of the first segment (an actual end of the first segment or a defined “hand off” point) until the target waypoint is reached (or until an intermediate waypoint is reached). The trajectory optimizer may utilize anticipated motion states of one or more actuators of the robot at the end point of the first segment in generating the second segment.

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.

公开(公告)号：US20220193907A1

公开(公告)日：2022-06-23

申请号：US17131240

申请日：2020-12-22

Applicant: X Development LLC

Inventor： Torsten Kroeger

IPC: B25J9/16 ,  B25J13/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, an initial plan specifying a path and a local trajectory; receiving an updated observation of an environment of the robot; generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot; repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising: obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint; and causing the robot to follow the modified global path for the robot.

公开(公告)号：US20220193908A1

公开(公告)日：2022-06-23

申请号：US17131366

申请日：2020-12-22

Applicant: X Development LLC

Inventor： Torsten Kroeger

IPC: B25J9/16 ,  B25J13/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, a definition of a plurality of sensor-based skills to be executed in sequence, wherein each skill is associated with an entry point and an exit point; generating a motion plan for the robot, including: generating, for a first skill of the plurality of sensor-based skills, a first path from a first entry point of the first skill to a second point at which a sensor-based interaction of the first skill begins, and generating, for the first skill of the plurality of sensor-based skills, a second path from a third point at which the sensor-based interaction of the first skill ends to a first exit point of the first skill; and executing the motion plan for the robot.

公开(公告)号：US10035264B1

公开(公告)日：2018-07-31

申请号：US14797529

申请日：2015-07-13

Applicant: X Development LLC

Inventor： Mrinal Kalakrishnan ,  Torsten Kroeger

IPC: B25J9/00 ,  B25J9/16 ,  G05D1/02 ,  H04W4/80

CPC classification number: B25J9/163 ,  G05D1/0223 ,  G05D1/0227 ,  G05D2201/0216 ,  H04W4/80

Abstract: Methods, apparatus, systems, and computer-readable media are provided for real time robot implementation of state machines. In various implementations, a robot controller may state machine data indicative of a state machine to be implemented by the robot controller while operating a robot. The robot controller may identify one or more states reachable by the robot controller during implementation of the state machine. At least a first state of the one or more states may include: a first action to be performed by the robot while the robot controller is in the first state; and a plurality of strategies to govern performance of the first action under multiple circumstances while the robot controller is in the first state. The robot controller may operate the robot to perform the first action in a manner governed by a first strategy of the plurality of strategies. The robot controller may operate the robot to continue performing the first action in a manner governed by a second strategy of the plurality of strategies in response to a sensor signal.