US 12,460,995 B1
Systems and methods to test perception and safety responses of autonomous mobile robots
Stephen Charles Paschall, Acton, MA (US); and Justin Croyle, Kalispell, MT (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Mar. 29, 2022, as Appl. No. 17/707,383.
Int. Cl. G01M 17/007 (2006.01); B25J 9/02 (2006.01); G05D 1/00 (2024.01)
CPC G01M 17/0072 (2013.01) [G05D 1/0238 (2013.01); B25J 9/026 (2013.01)] 20 Claims
OG exemplary drawing
 
5. An apparatus, comprising:
a dynamometer configured to receive an autonomous mobile robot under test, the autonomous mobile robot including a differential drive system and a perception system;
a robotic system configured to move an object relative to the dynamometer; and
a control system configured to at least:
instruct navigation of the autonomous mobile robot under test;
receive, via the dynamometer, movements of the differential drive system of the autonomous mobile robot;
determine, using inverse kinematics, corresponding movements of the object based on the movements of the differential drive system of the autonomous mobile robot;
instruct movement of the object by the robotic system relative to the autonomous mobile robot based on the inverse kinematics; and
instruct adjustment of a characteristic of the object, the characteristic of the object comprising at least one of material, texture, or reflectivity.