Device with active brake release control

A method of controlling motion of a device comprising a plurality of articulated arms, each articulated arm having a plurality of brakes, the method comprising:

• determining, by a control unit of the device, a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms, the plurality of timing windows comprising a timing window for each articulated arm of the plurality of articulated arms;
• determining, by the control unit and for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm;
• and
• causing, by the control unit, release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:

• determining a plurality of timing windows based on a time period for brake release and a number of articulated arms of the computer-assisted device, the plurality of timing windows comprising a timing window for each articulated arm of a plurality of articulated arms of the computer-assisted device;
• determining, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of a plurality of brakes of that articulated arm;
• and
• causing release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.