Intrinsic Innovation LLC

Giovanni Sutanto

Andre Gaschler

Markus Giftthaler

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for overriding an original motion of a robot along a trajectory. The method includes initiating, by a real-time robotics control system, execution of an input trajectory for a robot at a default speed, wherein the input trajectory is a time-parameterized trajectory and specifies a path in an operating environment; before completing execution of the input trajectory, receiving a user input specifying a value of an online speed override factor; in response, generating a phase-parameterized version of the input trajectory using a phase variable; computing, on each real-time control cycle, a target velocity and a target acceleration of the phase-parameterized version of the input trajectory based on the online speed override factor; and causing the robot to transition to the target velocity and the target acceleration while traversing the path in the operating environment.

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Sunnyvale, CA, United States of America

Giovanni Sutanto