Patent Document ID: 10035266
Application ID: 15376011
Patent Status: 1

Claim One:
1. A method of generating a trajectory for a robot, comprising: identifying a plurality of sequential waypoints; generating, by a real time trajectory generator, a first segment of a trajectory toward a first waypoint of the waypoints, the first segment indicating one or more motion states of actuators of the robot at each of a plurality of times, wherein at least a portion of the first segment is generated by the real time trajectory generator within a control cycle of the robot and wherein the first segment is generated based on the first waypoint and based on one or more kinematic motion constraints of the robot; providing, to a trajectory optimizer, anticipated motion states of the motion states of the actuators, the anticipated motion states being the motion states of the first segment for a target time of the plurality of times; operating the actuators of the robot based on the first segment until the target time; generating, by the trajectory optimizer and during the operating of the actuators of the robot based on the first segment, a second segment of the trajectory toward a last waypoint of the waypoints, the second segment indicating the motion states of the actuators of the robot at each of a plurality of second segment times following the target time, the second segment generated based on one or more of the waypoints, based on one or more optimization parameters, and based on the anticipated motion states provided to the trajectory optimizer; and operating the actuators of the robot based on the second segment following the target time.