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:
Apr. 21, 2026
Filed:
Dec. 19, 2023
Intrinsic Innovation Llc, Mountain View, CA (US);
Andre Gaschler, Munich, DE;
Markus Giftthaler, Freising, DE;
Intrinsic Innovation LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for switching in real-time between different trajectories during custom real-time control. One of the methods include: obtaining a definition of a first trajectory for a robot and a definition of a second trajectory for the robot; executing a current action for controlling the robot to follow set points of the first trajectory at each control tick of the real-time robotic control system, including, at each control tick of the real-time robotic control system: obtaining current data representing a latest execution status of the current action; evaluating one or more switching criteria associated with the current action according to the current data; and whenever the one or more switching criteria are satisfied during the control tick, switching to executing another action for controlling the robot to follow the second trajectory within the control tick.