US 11,964,393 B2
Motion planning of a robot for various environments and tasks and improved operation of same
Daniel Sorin, Boston, MA (US); George Konidaris, Boston, MA (US); Sean Murray, Cambridge, MA (US); William Floyd-Jones, Boston, MA (US); Peter Howard, Boston, MA (US); and Xianchao Long, Boston, MA (US)
Assigned to REALTIME ROBOTICS, INC., Boston, MA (US)
Filed by REALTIME ROBOTICS, INC., Boston, MA (US)
Filed on Jul. 12, 2023, as Appl. No. 18/221,029.
Application 18/221,029 is a continuation of application No. 16/981,467, granted, now 11,738,457, previously published as PCT/US2019/023031, filed on Mar. 19, 2019.
Claims priority of provisional application 62/646,102, filed on Mar. 21, 2018.
Prior Publication US 2023/0347520 A1, Nov. 2, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/04 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/0093 (2013.01); B25J 9/161 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 15/0019 (2013.01); B25J 15/04 (2013.01); B25J 17/02 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of operation in a robotic system including a first appendage and at least a second appendage, the first and the second appendage moveable within a first operational volume and a second operational volume, respectively, at least a portion of the second operational volume overlapping with at least a portion of the first operational volume such that the first and second appendages are capable of physically colliding with one another, the method comprising:
generating at least a first motion plan for a first appendage that moves the first appendage between at least a respective first pose and a respective second pose within the first operational volume without collisions at least between the first and the second appendages;
generating at least a second motion plan for a second appendage that moves the second appendage between at least a respective first pose and a respective second pose within the second operational volume without collisions at least between the first and the second appendages;
causing the first appendage to move according to the first motion plan;
causing the second appendage to move according to the second motion plan; and
updating at least one of the first or the second motion plans.