Intrinsic Innovation LLC

Benjamin Bremer

Andre Gaschler

Michael Beardsworth

Nicholas Julian Cox

Nils Berg

Gregory Prisament

Sean Alexander Cassero

Torsten Kroeger

Sean Alexander Rowan

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the system comprises a non-real-time control layer configured to compute a sequences of control data and to continually write data elements of the sequence of control data into a real-time streaming input buffer; and a real-time control layer configured to continually read data elements of the sequence of control data from the real-time streaming input buffer and to compute a robot control signal from the read data elements of the sequence of control data at every tick of a real-time control loop.

Streaming input buffer for real-time robotic control

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Real-time robotics control framework

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating safety trajectories. One of the methods comprises causing, by a robotic control system, execution of a robotic control plan by a plurality of robotic components in a robotic execution environment; generating a safety trajectory at each of a plurality of time points during the execution of the robotic control plan, including: obtaining data identifying a current position of a particular robotic component of the plurality of robotic components; generating, using the obtained data, a safety trajectory for the particular robotic component; and providing the safety trajectory to an emergency control system; determining that an emergency condition has been met; and in response, transferring control of the particular robotic component from the robotic control system to the emergency control system, comprising causing, by the emergency control system, execution of the safety trajectory by the particular robotic component.

Safety trajectories for robotic control systems

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

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Ottobrunn, Germany

Benjamin Bremer