Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
ROBOT MOVEMENT AND ONLINE TRAJECTORY OPTIMIZATION
05.06.2025
Patent
Elektronische Ressource
Englisch
MOVEMENT TRAJECTORY PREDICTING DEVICE AND MOVEMENT TRAJECTORY PREDICTING METHOD
Europäisches Patentamt | 2016
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