公开(公告)号：US12038760B1

公开(公告)日：2024-07-16

申请号：US17659088

申请日：2022-04-13

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shantanu Thakar ,  Pragyana K. Mishra ,  Nathalie Majcherczyk

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/027 ,  G05D1/0227 ,  G05D1/0251

Abstract: A physical space may contain sliding doors in various places such as between rooms, as closet doors, on furniture, and so forth. An autonomous mobile device (AMD) capable of non-holonomic motion may selectively contact a portion of the sliding door and apply a force to open or close the door. The AMD moves to an initial pose relative to the door, with a portion of the AMD coming into contact with the door. The AMD then rotates and translates, relative to the door, applying a force to the door. Sensor data, such as linear acceleration, rotation, drive wheel torque, and so forth is used as input to determine the next movement in a series of motions, resulting in continued contact and force application. As the end of travel for this motion is reached, the AMD may separate from the door, reposition, and continue to apply a force to the door.