US 9,981,383 B1Granted

Real-time trajectory generation for actuators of a robot to reduce chance of collision with obstacle(s)

AssigneeX Development LLC

InventorUmashankar Nagarajan

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Abstract

Methods, apparatus, systems, and computer readable media are provided for real-time generation of trajectories for actuators of a robot, where the trajectories are generated to lessen the chance of collision with one or more objects in the environment of the robot. In some implementations, a real-time trajectory generator is used to generate trajectories for actuators of a robot based on a current motion state of the actuators, a target motion state of the actuators, and kinematic motion constraints of the actuators. The acceleration constraints and/or other kinematic constraints that are used by the real-time trajectory generator to generate trajectories at a given time are determined so as to lessen the chance of collision with one or more obstacles in the environment of the robot.

Claims19

Dependent claims

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

identifying a current configuration of a dynamic configuration of the robot, the current configuration of the robot specifying a pose for each of a plurality of actuators of the robot;
identifying, for each of the plurality of actuators of the robot:
a first collision value for actuation of the actuator in a first direction, and
a second collision value for actuation of the actuator in a second direction,
wherein the first collision value and the second collision value are each identified based on the current configuration and based on information related to one or more obstacles in an environment of the robot;
determining one or more first direction kinematic motion constraints for the actuators based on the first collision values of the actuators;
determining one or more second direction kinematic motion constraints for the actuators based on the second collision values of the actuators;
identifying a target motion state of the actuators of the robot;
generating, for each of the actuators in real-time, a trajectory that defines motion states for the actuator,
wherein the trajectories transfer a current motion state of the actuators to the target motion state of the actuators, and
wherein generating the trajectories is based on:
the current motion state of the actuators, the target motion state, the first direction kinematic motion constraints of the actuators, and the second direction kinematic motion constraints of the actuators;
and
providing the trajectories for operating the actuators of the robot.

11 more elements

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

identifying a current configuration of a dynamic configuration of the robot, the current configuration of the robot specifying a pose for each of a plurality of actuators of the robot;
determining, for a given actuator of the actuators of the robot and based on the current configuration:
a first kinematic motion constraint based on a first effect that would result from actuation of the given actuator, the first effect indicating change to the dynamic configuration relative to one or more obstacles;
identifying a target motion state of the actuators of the robot;
generating, for each of the actuators in real-time, a trajectory that defines motion states for the actuator,
wherein the trajectories transfer a current motion state of the actuators to the target motion state of the actuators, and
wherein generating the trajectory for the given actuator is based on:
the current motion state of the actuators, the target motion state, the first kinematic motion constraints of the given actuator, and one or more additional kinematic motion constraints of the given actuator;
and
providing the trajectories for operating the actuators of the robot.

7 more elements

Dependencies are inferred from the claim text.