Patent Document ID: 9981383
Application ID: 15226717
Patent Status: 1

Claim One:
1. A method implemented by one or more processors of a robot, comprising: identifying a current configuration of a dynamic configuration of the robot, the current configuration of the robot specifying a pose for each of a plurality of actuators of the robot; identifying, for each of the plurality of actuators of the robot: a first collision value for actuation of the actuator in a first direction, and a second collision value for actuation of the actuator in a second direction, wherein the first collision value and the second collision value are each identified based on the current configuration and based on information related to one or more obstacles in an environment of the robot; determining one or more first direction kinematic motion constraints for the actuators based on the first collision values of the actuators; determining one or more second direction kinematic motion constraints for the actuators based on the second collision values of the actuators; identifying a target motion state of the actuators of the robot; generating, for each of the actuators in real-time, a trajectory that defines motion states for the actuator, wherein the trajectories transfer a current motion state of the actuators to the target motion state of the actuators, and wherein generating the trajectories is based on: the current motion state of the actuators, the target motion state, the first direction kinematic motion constraints of the actuators, and the second direction kinematic motion constraints of the actuators; and providing the trajectories for operating the actuators of the robot.