Trainable modular robotic apparatus
First Claim
1. A robotic apparatus operable to conduct one or more assigned physical tasks, the robotic apparatus comprising:
- at least one processor; and
a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being configured to cause, when executed by the at least one processor, a first controller of the robotic apparatus to;
produce an output signal based on a sensory input comprising an environmental characteristic and a learning process of the first controller, the first controller being configured to be coupled to a first robotic body of a plurality of robotic bodies via a first type of interface, the first robotic body including a first set of one or more degrees of freedom;
initialize a trajectory of the first robotic body of the plurality of robotic bodies based on the output signal;
receive a teaching signal in response to the initialized trajectory that teaches a target trajectory;
update the learning process of the first controller based on the received teaching signal; and
implement an adjusted trajectory for the first robotic body of the plurality of robotic bodies based on the updated learning process of the first controller;
store the adjusted trajectory in one or more trained robotic configurations; and
transfer the stored one or more trained robotic configurations to a second controller on a second robotic body of the plurality of robotic bodies via a second type of interface, the second robotic body including a second set of one or more degrees of freedom distinct from the first set of one or more degrees of freedom, the second type of interface being different from the first type of interface, the one or more trained robotic configurations comprising the updated learning process of the first controller;
wherein the transfer of the stored one or more trained robotic configurations to the second controller is configured to;
enable an implementation of the adjusted trajectory on the second robotic body of the plurality of robotic bodies via the transfer, the implementation of the adjusted trajectory on the second robotic body of the plurality of robotic bodies being based on the transferred one or more trained robotic configurations; and
enable the second controller of the second robotic body of the plurality of robotic bodies to update the updated learning process for use by one or more other controllers other than the second controller.
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Accused Products
Abstract
Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.
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Citations
20 Claims
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1. A robotic apparatus operable to conduct one or more assigned physical tasks, the robotic apparatus comprising:
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at least one processor; and a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being configured to cause, when executed by the at least one processor, a first controller of the robotic apparatus to; produce an output signal based on a sensory input comprising an environmental characteristic and a learning process of the first controller, the first controller being configured to be coupled to a first robotic body of a plurality of robotic bodies via a first type of interface, the first robotic body including a first set of one or more degrees of freedom; initialize a trajectory of the first robotic body of the plurality of robotic bodies based on the output signal; receive a teaching signal in response to the initialized trajectory that teaches a target trajectory; update the learning process of the first controller based on the received teaching signal; and implement an adjusted trajectory for the first robotic body of the plurality of robotic bodies based on the updated learning process of the first controller; store the adjusted trajectory in one or more trained robotic configurations; and transfer the stored one or more trained robotic configurations to a second controller on a second robotic body of the plurality of robotic bodies via a second type of interface, the second robotic body including a second set of one or more degrees of freedom distinct from the first set of one or more degrees of freedom, the second type of interface being different from the first type of interface, the one or more trained robotic configurations comprising the updated learning process of the first controller; wherein the transfer of the stored one or more trained robotic configurations to the second controller is configured to; enable an implementation of the adjusted trajectory on the second robotic body of the plurality of robotic bodies via the transfer, the implementation of the adjusted trajectory on the second robotic body of the plurality of robotic bodies being based on the transferred one or more trained robotic configurations; and enable the second controller of the second robotic body of the plurality of robotic bodies to update the updated learning process for use by one or more other controllers other than the second controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification