Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, a definition of a plurality of sensor-based skills to be executed in sequence, wherein each skill is associated with an entry point and an exit point; generating a motion plan for the robot, including: generating, for a first skill of the plurality of sensor-based skills, a first path from a first entry point of the first skill to a second point at which a sensor-based interaction of the first skill begins, and generating, for the first skill of the plurality of sensor-based skills, a second path from a third point at which the sensor-based interaction of the first skill ends to a first exit point of the first skill; and executing the motion plan for the robot.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating safety trajectories.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, an initial plan specifying a path and a local trajectory; receiving an updated observation of an environment of the robot; generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot; repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising: obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint; and causing the robot to follow the modified global path for the robot.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, a definition of a plurality of sensor-based skills to be executed in sequence, wherein each skill is associated with an entry point and an exit point; generating a motion plan for the robot, including: generating, for a first skill of the plurality of sensor-based skills, a first path from a first entry point of the first skill to a second point at which a sensor-based interaction of the first skill begins, and generating, for the first skill of the plurality of sensor-based skills, a second path from a third point at which the sensor-based interaction of the first skill ends to a first exit point of the first skill; and executing the motion plan for the robot.

Abstract: Methods, apparatus, systems, and computer readable media are provided for generating a trajectory for a robot to enable a reference point of the robot to reach a target waypoint. A real time trajectory generator is utilized to generate a first segment of a trajectory toward a target waypoint. While the robot is traversing the first segment of the trajectory, a trajectory optimizer is utilized to generate a second segment of the trajectory from an “end point” of the first segment (an actual end of the first segment or a defined “hand off” point) until the target waypoint is reached (or until an intermediate waypoint is reached). The trajectory optimizer may utilize anticipated motion states of one or more actuators of the robot at the end point of the first segment in generating the second segment.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for real time robot implementation of state machines. In various implementations, a robot controller may state machine data indicative of a state machine to be implemented by the robot controller while operating a robot. The robot controller may identify one or more states reachable by the robot controller during implementation of the state machine. At least a first state of the one or more states may include: a first action to be performed by the robot while the robot controller is in the first state; and a plurality of strategies to govern performance of the first action under multiple circumstances while the robot controller is in the first state. The robot controller may operate the robot to perform the first action in a manner governed by a first strategy of the plurality of strategies.

Abstract: A gearshift device comprises an input unit for receiving input data which is connected via at least one data line to a first controller via which an actuator unit can be controlled for setting a gearbox, especially an automatic gearbox of a motor vehicle, and comprising at least one second controller which is independent of the first controller. The second controller is separate from the first controller and is connected to the input unit via at least one data line. In the case of a fault in the first controller, the actuator unit can be controlled by the second controller at least partially correspondingly to the first controller.

Abstract: A brake pressure control device of a road vehicle has an automatic control of a starting clutch and/or of a transmission. During a stoppage of the motor vehicle achieved by a stoppage braking, the driver can, by a respective arbitrary activity, trigger a “starting assist” function for a defined time period. During this function, a continuation of the stoppage braking takes place by maintaining a brake pressure controlled into the wheel brakes by pressure maintaining valves so that, during the above-mentioned time period, the driver can change over to the accelerator pedal.

Abstract: In a method for setting the output power of an internal combustion engine a resultant specified torque is determined from a driver-intended torque and at least tw o additional intended torques, and the resultant specified torque is set via a apparatus for adjusting torque. Each participant system, in addition to the intended torque, provides information regarding whether the intended constitutes a torque-increase or a torque-decrease. A processing block is provided for each participant system in which the particular intended torque is compared with the driver-intended torque and the resulting specified torque of the preceding participant system. From this, a resulting specified torque is determined. The priority of the particular torque requirement results from the sequence of the participant systems during processing.

Abstract: In a system for controlling the shifting of an automatic transmission, a selector device is controllable from a "D" selected position into one of two shift positions for a stepwise shift limitation, by one gear at a time, manually. The respective upshift or downshift limitation can automatically be eliminated by fulfillment of a presettable condition, for example the expiration of a delay period.