The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 06, 2022
Filed:
Feb. 10, 2021
Intrinsic Innovation Llc, Mountain View, CA (US);
Stoyan Gaydarov, Burlingame, CA (US);
Intrinsic Innovation LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating motions for components in a robotic operating environment. One of the methods includes receiving a request to generate a motion for a kinematic system having a plurality of connected entities. An entity-specific sampling module for each of multiple degree-of-freedom (DOF) groups representing respective entities of the kinematic system is identified. A plurality of joint configuration samples are generated according to an ordering of a plurality of nonfunctional DOF groups using a respective entity-specific sampling module for each nonfunctional DOF group. A final joint configuration sample is generated for one or more one or more control points using a respective entity-specific sampling module for a functional DOF group. A motion comprising a sequence of respective joint configuration samples from each of the plurality of DOF groups is generated.