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:
Oct. 06, 2026
Filed:
Dec. 05, 2023
Intrinsic Innovation Llc, Mountain View, CA (US);
Giovanni Sutanto, Sunnyvale, CA (US);
Jean-Francois Dupuis, San Francisco, CA (US);
Ning Ye, Palo Alto, CA (US);
Sean Alexander Rowan, Ben Lomond, CA (US);
Stefan Schaal, Mountain View, CA (US);
Intrinsic Innovation LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for controlling a robot to achieve a motion trajectory that simultaneously optimizes joint manipulability and joint-limit distance. In one aspect, a system comprises receiving a first waypoint that represents the current pose of a robot comprising a plurality of joints, receiving a second waypoint that represents a target pose of the robot, obtaining a first joint state that defines an angular joint configuration that corresponds with the first waypoint of the robot, generating a motion between the first joint state and a second joint state that defines an angular joint configuration that corresponds with the second waypoint of the robot by performing an optimization process that simultaneously optimizes a unified joint-manipulability-and-joint-limit-distance metric of the robot, and generating control rules for the motion to be followed by the robot that achieves the target pose of the second waypoint.