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:
Aug. 26, 2025
Filed:
Dec. 12, 2022
Amazon Technologies, Inc., Seattle, WA (US);
Babak Kianmajd, Hayward, CA (US);
James Ballantyne, Santa Barbara, CA (US);
Michael Cheng, San Jose, CA (US);
Jong Jin Park, Sunnyvale, CA (US);
Nicholas Chuanji Liao, Carlsbad, CA (US);
Harry S. Cheng, San Carlos, CA (US);
AMAZON TECHNOLOGIES, INC., Seattle, WA (US);
Abstract
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.