Real-time generation of trajectories for actuators of a robot

A method implemented by one or more processors of a robot, comprising:

• for each of a plurality of actuators of a robot, and after generating, by a real-time trajectory generator, a trajectory for each of the actuators based on kinematic motion constraints of the actuators:
• determining whether a violation of an additional constraint of the actuator occurs in at least part of the trajectory of the actuator, the additional constraint being in addition to the kinematic motion constraints used to generate the trajectories;
• in response to determining that at least one of the trajectories has an occurrence of the violation, determining new acceleration constraints of the kinematic motion constraints for the actuators;
• generating, for each of the actuators by the real-time trajectory generator, an updated trajectory, wherein generating the updated trajectory includes applying the new acceleration constraints to the real-time trajectory generator;
• and
• providing the updated trajectories for operating the actuators of the robot in lieu of the trajectories, the operating of the updated trajectories in lieu of the trajectories occurring prior to a full implementation of the trajectories by the actuators.

A robot comprising:

• a plurality of actuators;
• one or more processors configured to:
• begin operation of each of the actuators based on trajectories of the actuators, the trajectories generated by a real-time trajectory generator based on kinematic motion constraints that include initial acceleration constraints;
• prior to full implementation of the trajectories by the actuators:
• determine whether a violation of an additional constraint occurs in at least one of the trajectories of the actuators, the additional constraint being in addition to the kinematic motion constraints used to generate the trajectories;
• in response to determining that at least one of the trajectories has an occurrence of the violation, determine new acceleration constraints for the actuators;
• generate, for each of the actuators by the real-time trajectory generator, an updated trajectory, wherein generating the updated trajectory includes applying the new acceleration constraints to the real-time trajectory generator;
• and
• provide the updated trajectories for operating the actuators of the robot in lieu of the trajectories prior to occurrence of the violation.