US 12,172,314 B2
Systems, apparatus, and methods for robotic learning and execution of skills
Vivian Yaw-Wen Chu, Austin, TX (US); Shuai Li, Austin, TX (US); Forrest Green, Austin, TX (US); Peter Worsnop, Bethesda, MD (US); and Andrea Lockerd Thomaz, Austin, TX (US)
Assigned to Diligent Robotics, Inc., Austin, TX (US)
Filed by Diligent Robotics, Inc., Austin, TX (US)
Filed on Oct. 26, 2023, as Appl. No. 18/495,633.
Application 18/495,633 is a continuation of application No. 17/188,445, filed on Mar. 1, 2021, granted, now 11,833,684.
Application 17/188,445 is a continuation of application No. PCT/US2019/048601, filed on Aug. 28, 2019.
Application PCT/US2019/048601 is a continuation in part of application No. 16/456,919, filed on Jun. 28, 2019, granted, now 11,148,288, issued on Oct. 19, 2021.
Application 17/188,445 is a continuation in part of application No. 16/456,919, filed on Jun. 28, 2019, granted, now 11,148,288, issued on Oct. 19, 2021.
Application 16/456,919 is a continuation in part of application No. PCT/US2018/019520, filed on Feb. 23, 2018.
Claims priority of provisional application 62/723,694, filed on Aug. 28, 2018.
Claims priority of provisional application 62/463,630, filed on Feb. 25, 2017.
Claims priority of provisional application 62/463,628, filed on Feb. 25, 2017.
Prior Publication US 2024/0278421 A1, Aug. 22, 2024
Int. Cl. B25J 15/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 15/00 (2013.01)] 30 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a manipulating element;
a transport element configured to move along a surface;
a set of sensors;
a memory; and
a processor operatively coupled to the memory, manipulating element, transport element, and the set of sensors, the processor configured to:
obtain, via the set of sensors, information of an environment;
select, based on an arbitration algorithm, a skill to execute from a plurality of skills, the skill being associated with a physical interaction between the manipulating element and a physical object in the environment;
generate, using a model for executing the skill, a plan to execute at least a first portion of the skill based on the information of the environment;
move at least one of the manipulating element or the transport element based on the plan to execute at least the first portion of the skill;
interrupt execution of the skill in response to detecting an unexpected engagement of the manipulating element or transport element with an external object;
continue obtaining, after interrupting the execution of the skill, additional information of the environment; and
generate a second plan to execute a second portion of the skill based on the additional information of the environment.