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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12594670-B1, on 7 April 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001085

Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids

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Classification
Robotics & Automation › Robot Architectures
Inventors
IVANOV YURI ANATOLY, PEI YINAN
Assignee
AMAZON TECH INC
Original source
US-12594670-B1, the United States Patent and Trademark Office, 7 April 2026
Document SHA-256
461ba07e6f002331cfd1af88954dc11c668069835af278c57172c0f0ca324ea3

Abstract

Techniques for generating pose sequences for a robotic manipulator to perform a task based on velocity ellipsoids and force ellipsoids are described herein. For example, a computer system can generate candidate pose configurations of a robotic manipulator. Each candidate pose configuration can include a first end of the robotic manipulator being positioned along a trajectory. The computer system can determine a velocity ellipsoid and a force ellipsoid for each candidate pose configuration. The computer system can generate a sequence of pose configurations for the robotic manipulator to perform a task along the trajectory by minimizing a cost function subject to one or more constraints based at least in part on (i) the candidate pose configurations, (ii) a first weight for the velocity ellipsoid, and (iii) a second weight for the force ellipsoid.

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OpenTechnical Publication OT-2026-000001085, “Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids,” published September 15, 2026 at 19:03:51 UTC, https://opentechnical.org/p/OT-2026-000001085.

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