Amazon Technologies, Inc.

Harry S Cheng

James Ballantyne

Jong Jin Park

Nicholas Chuanji Liao

Michael Cheng

Babak Kianmajd

An autonomous mobile device (AMD) has one or more joints that move. A 'choreo' comprises instructions that specify a particular set of motions. A constrained optimization algorithm determines a first time at which operation of the joint may be transitioned from a current state, such as while performing a first choreo, to a second choreo. The first time is determined to minimize motion discontinuities to less than constraint values. Constraint values may specify limits on time, position, acceleration, velocity and so forth. During the transition the joint is moved, subject to the constraints and using an optimization algorithm, toward the positions specified by the second choreo, subject to the constraint values. Synchronization of the second choreo to a specified time is maintained. The resulting movement avoids discontinuities producing a more naturalistic motion and may reduce wear and tear on the joint.

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San Carlos, CA, United States of America

Harry S Cheng