Patent ID: 11904470
Assignee: DILIGENT ROBOTICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 22:
23. A robotic device, comprising:
a base supported on a transport element;
a manipulating element coupled to the base and including an end effector;
a set of sensors; and
a memory storing a plan cache including a plurality of plans for triggering an activation device for opening a door, each plan from the plurality of plans being associated with a starting pose of the base and the end effector relative to the activation device;
a processor operatively coupled to the base, the manipulating element, the set of sensors, and the memory, the processor configured to:
scan, using at least one sensor from the set of sensors, an environment near the robotic device;
identify, based on the scan of the environment, a marker associated with the activation device;
determine a current pose of the base and the end effector relative to the marker;
select the plan from the plurality of plans having a starting pose of the base and the end effector that is substantially the same as the current pose of the base and the end effector; and
execute the plan to trigger the activation device to open the door.