Patent ID: 11964393
Assignee: REALTIME ROBOTICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 7:
8. A method of operation in a robotic system including a first appendage that carries at least one sensor and at least a second appendage that carries at least one end effector, the first and the second appendages moveable within a first operational volume and a second operational volume, respectively, at least a portion of the second operational volume overlapping with at least a portion of the first operational volume such that the first and the second appendages are capable of physically colliding with one another, the method comprising:
generating at least a first motion plan for the first appendage that moves the first appendage between at least a respective first pose and a respective second pose within the first operational volume without collisions at least between the first and the second appendages, the respective second pose which positions the at least one sensor carried by the first appendage to operatively sense a portion of an environment;
generating at least a second motion plan for the second appendage that moves the second appendage between at least a respective first pose and a respective second pose within the second operational volume without collisions at least between the first and the second appendages, the respective second pose in which the end effector carried by the second appendage is positioned to operatively engage an object within the portion of the environment that is sensed by the at least one sensor;
causing the first appendage to move according to the first motion plan;
receiving information collected by the at least one sensor carried by the first appendage;
causing the second appendage to move according to the second motion plan; and
dynamically generating a plurality of updated second motion plans based on the received information collected by the at least one sensor carried by the first appendage.