US 9,821,458 B1 · Trajectory planning with droppable objects

Abstract

Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.

Claims25

Dependent claims

A method comprising:

determining, by a robotic system, at least first and second candidate trajectories for moving an object in an environment from a first location to a second location;
for at least a first point along the first candidate trajectory, the robotic system determining a predicted cost of dropping the object at the first point along the first candidate trajectory;
for at least a second point along the second candidate trajectory, the robotic system determining a predicted cost of dropping the object at the second point along the second candidate trajectory;
based at least on the determined predicted cost for the first point along the first candidate trajectory and on the determined predicted cost for the second point along the second candidate trajectory, the robotic system selecting between the first and second candidate trajectories;
and
the robotic system moving the object from the first location to the second location along the selected trajectory.

3 more elements

A robotic system comprising:

one or more processors;
a non-transitory computer readable medium;
and
program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
determine at least first and second candidate trajectories for moving an object in an environment from a first location to a second location;
for at least a first point along the first candidate trajectory, determine a predicted cost of dropping the object at the first point along the first candidate trajectory;
for at least a second point along the second candidate trajectory, determine a predicted cost of dropping the object at the second point along the second candidate trajectory;
based on at least on the determined predicted cost for the first point along the first candidate trajectory and on the determined predicted cost for the second point along the second candidate trajectory, select between the first and second candidate trajectories;
and
move the object from the first location to the second location along the selected trajectory.

7 more elements

Dependencies are inferred from the claim text.

Trajectory planning with droppable objects

Life of this patent

Trajectory planning with droppable objects

Life of this patent

Abstract

Claims25