METHOD AND APPARATUS FOR ONLINE TASK PLANNING AND ROBOT MOTION CONTROL

Disclosed techniques embody advantageous approaches to online task and motion planning for robots, based on the decomposition of robot tasks into subtasks having attached attributes that, among other things, indicate whether dynamic trajectory modification is permitted during subtask execution. The...

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Bibliographic Details
Main Authors Bailey, Sean, Suzumura, Akihiro, Drinkard, John, Chenna, Kautilya, Misra, Gaurav, Rodriguez Campo, Andres
Format Patent
LanguageEnglish
Published 03.10.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:Disclosed techniques embody advantageous approaches to online task and motion planning for robots, based on the decomposition of robot tasks into subtasks having attached attributes that, among other things, indicate whether dynamic trajectory modification is permitted during subtask execution. The decomposition and attribute tagging allows for hybrid motion control during task execution, for example, with some subtasks allowing for reactive motion planning for collision avoidance, and other subtasks disallowing reactive motion. Collision avoidance for non-reactive subtasks involves, for example, coordinating volume reservations within an involved robot work cell, to prevent other robots from interfering with a robot engaged in a subtask designated as non-reactive. Determination of which subtasks are non-reactive relies on information included in an input task specification and may be based on user analysis or automated analysis of the involved robot application.
Bibliography:Application Number: US202318317128