| CPC B25J 9/1666 (2013.01) [B25J 9/163 (2013.01); B25J 13/089 (2013.01)] | 20 Claims |
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1. A method performed by a robotics control system comprising one or more computers, the method comprising:
receiving, for a robot, an initial plan specifying a path and a local trajectory;
receiving an updated observation of an environment of the robot;
generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot, wherein the initial modified local trajectory extends outside of a boundary of a workspace footprint for the robot at the time that the initial modified local trajectory is generated, the workspace footprint defining a physical volume within a workcell for the robot to perform a task;
repeatedly following the initial modified local trajectory that extends outside the footprint of the robot while generating a modified global path for the robot that remains entirely within the footprint of the robot until the modified global path has been generated, wherein generating the modified global path comprises:
obtaining data representing the workspace footprint for the robot, and
generating the modified global path to avoid causing the robot to cross a boundary of the physical volume defined by the workspace footprint;
determining that the modified global path has been generated; and
causing the robot to switch from following the initial modified local trajectory to following the modified global path for the robot.
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