CONCURRENT PATH PLANNING WITH ONE OR MORE HUMANOID ROBOTS

摘要

PROBLEM TO BE SOLVED: To provide a robotic system for executing a cooperative work task having a plurality of independent tasks.

SOLUTION: The robotic system includes: a plurality of robotic joints where each of the robotic joints is independently controllable during the execution of the cooperative work task; and a controller which controls the motion of the robotic joints during the execution of the cooperative work task. The controller is configured to: automatically groups the robotic joints into task-specific subsystems; assigns a plurality of independent tasks to the task-specific subsystems upon reaching a task execution fork; and coordinates the independent execution of the task-specific subtasks by the respective task-specific subsystems after reaching the task execution fork.

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