ROBOT MOVEMENT AND ONLINE TRAJECTORY OPTIMIZATION

Abstract: systems and methods for determining movement of a robot about an environment are provided. a computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Inventor(s): Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens

CPC Classification: B25J9/1602 ({characterised by the control system, structure, architecture})

Search for rejections for patent application number 20250178190