Patent Document ID: 8965580
Application ID: 13621708
Patent Flag: 1

Claim One:
1. A robot for manipulating objects within an environment based on physical perception thereof, the robot comprising: at least one appendage for manipulating an object; a controller for operating the at least one appendage; a perception system for receiving physical information about the object and the environment from at least one sensor; an instance database comprising a plurality of instances at least some of which specify tasks to be performed by the appendage on the object, each task specifying an object and an action to be performed thereon and being defined in generic terms without specifying spatial coordinates; and a task-execution module, responsive to the perception system, for causing the robot to execute the tasks via commands to the controller, wherein the task-execution module generates, on the fly based on the physical information, a trajectory corresponding to the task in a coordinate system associated with the robot.