Robotic guarded motion system and method
First Claim
1. A method for controlling motion of a robot, comprising:
- repeating on each iteration through an event timing loop, the acts of;
defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot;
detecting a range to obstacles around the robot;
testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; and
reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.
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Accused Products
Abstract
A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.
237 Citations
24 Claims
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1. A method for controlling motion of a robot, comprising:
repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; and reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer readable medium having computer instructions thereon, which when executed on a system controller provide a method for controlling motion of a robot, the computer instructions comprising instructions for:
repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; and reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A robot platform, comprising:
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at least one perceptor configured for perceiving environmental variables of interest; at least one locomotor configured for providing mobility to the robot platform; a system controller configured for executing computer instructions configured for controlling motion of a robot, the computer instructions comprising instructions for; repeating on each iteration through an event timing loop, the acts of; defining an event horizon comprising a distance from the robot that is proportional to a current velocity of the robot; detecting a range to obstacles around the robot; testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon; and reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification