US 11,904,470 B2
Systems, apparatuses, and methods for robotic learning and execution of skills including navigation and manipulation functions
Andrea Lockerd Thomaz, Austin, TX (US); Vivian Yaw-Wen Chu, Austin, TX (US); Peter Worsnop, Bethesda, MD (US); Reymundo Gutierrez, Round Rock, TX (US); Lauren Hutson, Austin, TX (US); Shuai Li, Sammamish, WA (US); Anjana Nellithimaru, Austin, TX (US); and Frank Mathis, Austin, TX (US)
Assigned to Diligent Robotics, Inc., Austin, TX (US)
Filed by Diligent Robotics, Inc., Austin, TX (US)
Filed on Aug. 8, 2023, as Appl. No. 18/446,040.
Application 18/446,040 is a continuation of application No. PCT/US2022/015710, filed on Feb. 8, 2022.
Claims priority of provisional application 63/211,999, filed on Jun. 17, 2021.
Claims priority of provisional application 63/147,124, filed on Feb. 8, 2021.
Prior Publication US 2023/0381959 A1, Nov. 30, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
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)] 28 Claims
OG exemplary drawing
 
1. A robotic device, comprising:
a memory;
a base supported on a transport element;
a manipulating element coupled to the base and including an end effector;
a set of one or more sensors; and
a processor operatively coupled to the memory, the base, the manipulating element, and the set of sensors, the processor configured to:
in response to receiving a first user input indicating a starting pose for opening a first door, register the starting pose of the base and the end effector relative to a first activation device for opening the first door;
obtain, using the set of sensors and during a demonstration of a manipulation required to trigger the first activation device to open the first door, sensor data at a plurality of keyframes of the demonstration;
in response to receiving a second user input indicating a target pose for triggering the first activation device, register the target pose of the end effector relative to the first activation device;
generate a plan for triggering the first activation device based at least in part on the starting pose, the sensor data collected at the plurality of keyframes, and the target pose;
identify a plurality of additional starting poses for opening the first door;
generate a plurality of additional plans for triggering the first activation device based at least in part on the plurality of additional starting poses, the sensor data collected at the plurality of keyframes, and the target pose;
store the plan and the plurality of additional plans for triggering the first activation device as a plan cache in the memory;
detect, using at least one sensor from the set of sensors, at least one of a second door or a second activation device for opening the second door; and
select, based on a pose of the base and the end effector relative to the second activation device, a specific plan from the plan cache to execute such that the second door can be opened.