Facilitating device control
First Claim
1. A method of operation in a robotic system comprising, a processor, a first device in communication with the processor, and a second device in communication with the first device and the processor, the method comprising:
- receiving, by the processor, a training set including;
a first plurality of positions in a first configuration space that represents physical configurations of the first device,a second plurality of positions in a second configuration space that represents physical configurations of the second device, andinformation that represents a plurality of pairs of positions, wherein a representative pair in the plurality of pairs of positions includes a first representative position in the first configuration space and a second representative position in the second configuration space;
creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space and a second run-time position in the second configuration space;
creating, by the processor, information that represents a plurality of nearest neighbour cells, wherein each cell in the plurality of nearest neighbour cells includes a position from the first plurality of positions in the first configuration space;
including, by the processor, in the information that represents the map, the information that represents the plurality of nearest neighbour cells; and
returning, by the processor, the information that represents the map.
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Accused Products
Abstract
Systems, devices, articles, and methods are illustrated and described herein. A method of operation in a robotic system including a processor, a first device, and a second device involves receiving, by the processor, a training set including a first plurality of positions in a first configuration space that represents physical configurations of the first device, a second plurality of positions in a second configuration space that represents physical configurations of the second device, and information that represents pairs of positions. A representative pair includes a first representative position in the first configuration space and a second representative position in the second configuration space. The method involves creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space, and a second run-time position in the second configuration space, and returning, by the processor, the information that represents the map.
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Citations
19 Claims
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1. A method of operation in a robotic system comprising, a processor, a first device in communication with the processor, and a second device in communication with the first device and the processor, the method comprising:
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receiving, by the processor, a training set including; a first plurality of positions in a first configuration space that represents physical configurations of the first device, a second plurality of positions in a second configuration space that represents physical configurations of the second device, and information that represents a plurality of pairs of positions, wherein a representative pair in the plurality of pairs of positions includes a first representative position in the first configuration space and a second representative position in the second configuration space; creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space and a second run-time position in the second configuration space; creating, by the processor, information that represents a plurality of nearest neighbour cells, wherein each cell in the plurality of nearest neighbour cells includes a position from the first plurality of positions in the first configuration space; including, by the processor, in the information that represents the map, the information that represents the plurality of nearest neighbour cells; and returning, by the processor, the information that represents the map. - View Dependent Claims (2, 3, 4, 5, 6, 9, 10)
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7. A method of operation in a robotic system comprising, a processor, a first device in communication with the processor, and a second device in communication with the first device and the processor, the method comprising:
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receiving, by the processor, a training set including; a first plurality of positions in a first configuration space that represents physical configurations of the first device, a second plurality of positions in a second configuration space that represents physical configurations of the second device, and information that represents a plurality of pairs of positions, wherein a representative pair in the plurality of pairs of positions includes a first representative position in the first configuration space and a second representative position in the second configuration space; creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space and a second run-time position in the second configuration space; creating, by the processor, a dictionary of atoms and a plurality of weights that in linear combination define at least one representative pair in the plurality of pairs of positions; including, by the processor, in the information that represents the map, the information that represents the dictionary of atoms; and returning, by the processor, the information that represents the map. - View Dependent Claims (8)
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11. A method of operation in a robotic system comprising, a processor, an operator interface in communication with the processor, and an operator controllable device in communication with the processor and the operator interface, the method comprising:
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receiving, by the processor, information that represents a map between a first position in a first configuration space associated with physical configurations for the operator interface and a second position in a second configuration space associated with physical configurations for the operator controllable device; receiving, by the processor, a first run-time position in the first configuration space; receiving, by the processor, information that represents a plurality of nearest neighbour cells, wherein each cell in the plurality of nearest neighbour cells includes a calibration position from a first plurality of calibration positions in the first configuration space; receiving, by the processor, information that represents a second plurality of calibration positions in the second configuration space, wherein a representative calibration position from the second plurality of calibration positions in the second configuration space is associated with a representative calibration position from the first plurality of calibration positions in the first configuration space; creating, by the processor, a second run-time position in the second configuration space from the information that represents the map, the first run-time position in the first configuration space, and the second plurality of calibration positions in the second configuration space; causing, by the processor, an action to be taken with the second run-time position in the second configuration space; and producing, by the processor, a signal including information that represents an action for the operator controllable device, wherein the information when interpreted causes the operator controllable device to assume the second run-time position. - View Dependent Claims (12, 13, 14, 17, 18, 19)
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15. A method of operation in a robotic system comprising, a processor, an operator interface in communication with the processor, and an operator controllable device in communication with the processor and the operator interface, the method comprising:
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receiving, by the processor, information that represents a map between a first position in a first configuration space associated with physical configurations for the operator interface and a second position in a second configuration space associated with physical configurations for the operator controllable device; receiving, by the processor, a first run-time position in the first configuration space; creating, by the processor, a second run-time position in the second configuration space from the information that represents the map and the first run-time position in the first configuration space; causing, by the processor, an action to be taken with the second run-time position in the second configuration space; producing, by the processor, a signal including information that represents an action for the operator controllable device, wherein the information when interpreted causes the operator controllable device to assume the second run-time position; receiving, by the processor, information that represents a dictionary of atoms that in linear combination with a plurality of weights define a position in the first configuration space, and a position in the second configuration space, wherein the dictionary of atoms includes a first plurality of atoms associated with the first configuration space; and deriving, by the processor, the plurality of weights from a system of equations that includes; the first run-time position, the first plurality of atoms, and the plurality of weights. - View Dependent Claims (16)
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Specification