US 12,070,859 B2
Robot base position planning
Benjamin Holson, Sunnyvale, CA (US)
Assigned to Google LLC, Mountain View, CA (US)
Filed by Google LLC, Mountain View, CA (US)
Filed on Sep. 23, 2022, as Appl. No. 17/934,877.
Application 17/934,877 is a continuation of application No. 16/204,118, filed on Nov. 29, 2018, granted, now 11,465,279.
Prior Publication US 2023/0015796 A1, Jan. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); G05D 1/00 (2024.01)
CPC B25J 9/162 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0246 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
obtaining a map of a physical environment that contains an interaction point for a manipulator of a robotic device;
determining, using a machine learning model and based on (i) the map, (ii) the interaction point, and (iii) a representation of a physical structure of the robotic device, a plurality of candidate positions for a base of the robotic device within the physical environment represented by the map, wherein each respective candidate position of the plurality of candidate positions is predicted to allow the manipulator of the robotic device to follow at least one collision-free trajectory relative to the base of the robotic device to reach the interaction point when the base of the robotic device is positioned at the respective candidate position;
selecting a candidate position from the plurality of candidate positions; and
based on selecting the candidate position, causing the base of the robotic device to move toward the selected candidate position within the physical environment.