Robotic system with dynamic motion adjustment mechanism and methods of operating same
AssigneeMUJIN, Inc.
InventorsAditi Pandya, Shunichi Nozawa, Rosen Nikolaev Diankov
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Abstract
A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.
Claims21
1-20. (canceled)
A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform a method for operating a robotic system, the method comprising:
- identifying a set of planned waypoints along a planned trajectory, wherein the set of planned waypoint corresponds to one or more first speeds;
- initiating implementation of a task according to the planned trajectory according to the one or more first speeds;
- dynamically deriving a set of updated waypoints corresponding to one or more second speeds, wherein the set of updated waypoints replaces the set of planned waypoints with different locations on the same planned trajectory;
- and
- based on an I/O state, implementing an adjustment to the task according to the set of updated waypoints and the one or more second speeds.
A robotic system comprising:
- at least one processor;
- at least one memory having instructions stored thereon that, when executed by the at least one processor, causes the at least one processor to:
- identify a set of planned waypoints along a planned trajectory, wherein the set of planned waypoint corresponds to one or more first speeds;
- initiating implementation of a task according to the planned trajectory according to the one or more first speeds;
- dynamically derive a set of updated waypoints corresponding to one or more second speeds, wherein the set of updated waypoints replaces the set of planned waypoints with different locations on the same planned trajectory;
- and
- based on an I/O state, implement an adjustment to the task according to the set of updated waypoints and the one or more second speeds.
A method of operating a robotic system, the method comprising:
- identifying a set of planned waypoints along a planned trajectory, wherein the set of planned waypoint corresponds to one or more first speeds;
- initiating implementation of a task according to the planned trajectory according to the one or more first speeds;
- dynamically deriving a set of updated waypoints corresponding to one or more second speeds, wherein the set of updated waypoints replaces the set of planned waypoints with different locations on the same planned trajectory;
- and
- based on an I/O state, implementing an adjustment to the task according to the set of updated waypoints and the one or more second speeds.
Dependencies are inferred from the claim text.