US 11,675,350 B2
Autonomous robot with on demand teleoperation
Samir Menon, Palo Alto, CA (US); Zhouwen Sun, Redwood City, CA (US); and Gerald Brantner, Los Altos, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Sep. 30, 2020, as Appl. No. 17/39,817.
Application 17/039,817 is a continuation of application No. 15/968,492, filed on May 1, 2018, granted, now 10,824,142.
Prior Publication US 2021/0018914 A1, Jan. 21, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); B25J 9/16 (2006.01)
CPC G05D 1/0061 (2013.01) [B25J 9/1689 (2013.01); G05D 1/0027 (2013.01); G05D 1/0088 (2013.01); G05D 2201/0216 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A system, comprising:
a processor configured to:
operate a robot in an autonomous mode of operation in which the robot performs one or more tasks autonomously without human intervention;
perform one or more strategies to pick up a next item associated with a next task, wherein the one or more strategies to pick up the next item associated with the next task are based on one or more characteristics associated with the next item;
determine that a further strategy is not available to perform the next task autonomously after attempting to perform the of one or more strategies with respect to the next task, wherein the further strategy is determined to be unavailable based on position information indicating that a robotic arm of the robot is not following an expected movement trajectory from a starting position to a destination position; and
in response to the determination that the further strategy is not available, enter a human intervention mode of operation; and
a communication interface coupled to the processor and configured to communicate control values to one or more actuators of the robot.