{
  "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.",
  "assignees": [
    "AMAZON TECH INC"
  ],
  "authors": [
    "IVANOV YURI ANATOLY",
    "PEI YINAN"
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:03:51.002123Z",
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  "source_date": "2026-04-07",
  "source_id": "US-12594670-B1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12594670B1",
  "supersedes": null,
  "title": "Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids",
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