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

Claim 0:
1. A method of operation in a robotic system including a first appendage and at least a second appendage, the first and the second appendage 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 second appendages are capable of physically colliding with one another, the method comprising:
generating at least a first motion plan for a 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;
generating at least a second motion plan for a 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;
causing the first appendage to move according to the first motion plan;
causing the second appendage to move according to the second motion plan; and
updating at least one of the first or the second motion plans.