---
publication_id: "OT-2026-000002134"
title: "Automatic determination of robot settling states"
published_at: "2026-09-15T19:11:01.076636Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002134"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1638"
  - "b25j9/1638"
  - "b25j9/1638"
  - "b25j9/00"
  - "b25j9/16"
---

# Automatic determination of robot settling states

## Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot based on settling time of the robot. One of the methods includes executing, by a robot having one or more joints, a motion trajectory to move from a first pose to a second pose; repeatedly computing a settled state confidence score after the robot has begun execution of the motion trajectory; and whenever the current settled state confidence score satisfies a threshold value, executing, by the robot, a command that causes the robot to move.