CPC B25J 9/1666 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1653 (2013.01); B25J 9/1676 (2013.01); B25J 13/085 (2013.01); B25J 13/089 (2013.01)] | 40 Claims |
1. A computer-implemented method comprising:
(a) receiving, by a computing system of a robot from a perception module of the robot, an initial state of at least a portion of the robot and a goal state of the at least a portion of the robot;
(b) providing as input to a nonlinear solver implemented by the computing system, a first representation of the initial state and a second representation of the goal state, wherein the nonlinear solver is configured to determine using the first representation, the second representation, and nonlinear optimization, a candidate trajectory for the at least a portion of the robot to move from the initial state to the goal state, the candidate trajectory including parameters for each of a plurality of joints corresponding to the at least a portion of the robot;
(c) determining, by the computing system, whether the candidate trajectory is feasible; and
(d) controlling, by the computing system, when it is determined that the candidate trajectory is feasible, actuators associated with the plurality of joints corresponding to the at least a portion of the robot based on the parameters for each of the plurality of joints to move the at least a portion of the robot from the initial state to the goal state.
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