Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.

Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.

Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.

An adaptive robot grasp planning technique for bin picking. Workpieces in a bin having random positions and poses are to be grasped by a robot and placed in a goal position and pose. The workpiece shape is analyzed to identify a plurality of robust grasp options, each grasp option having a position and orientation. The workpiece shape is also analyzed to determine a plurality of stable intermediate poses. Each individual workpiece in the bin is evaluated to identity a set of feasible grasps, and the workpiece is moved to the goal pose if such direct movement is possible. If direct movement is not possible, a search problem is formulated, where each stable intermediate pose is a node. The search problem is solved by evaluating the feasibility and optimality of each link between nodes. Feasibility of each link is evaluated in terms of collision avoidance constraints and robot joint motion constraints.

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

A method and system for autonomous picking or put-away of items, totes, or cases within a logistics facility. The system includes a remote server and at least one manipulation robot. The system may further include at least one transport robot. The remote server is configured to communicate with the various robots to send and receive picking data, and the various robots are configured to autonomously navigate and position themselves within the logistics facility.

A mobile robot operation method according to an aspect of the present invention includes: a step for receiving a guidance destination input; a step for generating a global path to the received guidance destination; a step for generating a left travel guideline and a right travel guideline on the left side and the right side of the generated global path; and a step for generating a local path within a travelable range between the left travel guideline and the right travel guideline. Accordingly, the robot operation method may generate a safe and optimal guidance path when providing a guidance service.

A modular mobility base for a modular autonomous bot apparatus transporting an item being shipped including a mobile base platform, a component alignment interface, a mobility controller, a propulsion and steering system, and sensors. The component alignment interface provides an alignment channel into which another modular component can be placed and secured on the platform. The mobility controller generates propulsion control signals for controlling speed of the modular mobility base and steering control signals for navigation of the modular mobility base. The propulsion system is connected to the platform and responsive to the propulsion control signal. The steering system is connected to the mobile base platform and is responsive to the steering control signal to cause changes to directional movement of the modular mobility base. The sensors are disposed on the platform provide feedback sensor data to the mobility controller about a condition of the modular mobility base.

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.