| CPC B25J 9/163 (2013.01) [B25J 9/162 (2013.01); B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); B25J 19/021 (2013.01)] | 24 Claims |
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1. A robotic device, comprising:
a base supported on a transport element;
a manipulating element coupled to the base and including an end effector;
a set of sensors; and
a memory storing a plan cache including a plurality of plans for executing a skill, each plan from the plurality of plans being associated with a starting pose of the base and the end effector relative to a physical object in an environment near the robotic device;
a processor operatively coupled to the base, the manipulating element, the set of sensors, and the memory, the processor configured to:
scan, using at least one sensor from the set of sensors, the environment near the robotic device;
identify, based on the scan of the environment near the robotic device, a location of the physical object in the environment near the robotic device;
determine a current pose of the base and the end effector relative to the location of the physical object;
select a first plan from the plurality of plans having a first starting pose of the base and the end effector that is substantially the same as the current pose of the base and the end effector;
execute the first plan;
in response to determining that the skill has not been successfully executed,
select a second plan from the plan cache based on the current pose of the base and the end effector, the second plan having a second starting pose of the base and the end effector that is different from the first starting pose; and
execute the second plan.
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