Digital representations of robot operational environment, useful in motion planning for robots
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United States of America
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Jan 14, 2025
Grant Date -
Jun 27, 2024
app pub date -
Mar 16, 2021
filing date -
Mar 16, 2021
priority date (Note) -
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status (Latency Note)
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Abstract
An oversized representation of at least a portion of a robot is filtered (e.g., voxels are set as unoccupied for any objects that reside completely within the oversized representation) from a representation of an operational environment, which provides a digital model of the operational environment which can, for example, be used for motion planning for the robot. The oversized representation exceeds a physical dimension of at least a portion (e.g. appendage) of the robot, to advantageously account for cables and other features that are attached to, and extending beyond, the outer dimensions of the robot. The specific dimensions of the oversized representation can be based on a variety of factors, for example a geometry of the cable, orientation or position of the robot appendage, orientation or position of the cable with respect to the robot appendage, velocity of the appendage, slack in the cable, etc., which may be modeled.
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