VARIABLE PRIMITIVE MAPPING FOR A ROBOTIC CRAWLER

• US 20080281468A1
• Filed: 05/08/2008
• Published: 11/13/2008
• Est. Priority Date: 05/08/2007
• Status: Abandoned Application

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Sarcos LLC (Sarcos Technology & Robotics Corp.)
• Inventors: Jacobsen, Stephen C., Pensel, Ralph W., Hirschi, Christopher R., Olivier, Marc
• Application Number:
  US12/117,233
• Publication Number:
  US 20080281468A1
• Time in Patent Office: Days
• US Class Current: 700/246
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00

Abstract

Varying modes of movement of a robotic crawler are provided by using a variable mapping from high-level (operator input) primitives into low-level primitives. The mapping is a function of environmental data sensed by the robotic crawler enabling the movement mode to be adapted to the environment.

Claims

1. A method for varying character of movement of a robotic crawler within an environment, comprising:

defining a plurality of low-level primitives to control basic movements of the robotic crawler;

accepting from an operator a high-level primitive to be performed by the robotic crawler;

mapping the high-level primitive into a variable set of low-level primitives for execution by the robotic crawler to produce varying modes of movement, wherein the mapping is a function of environmental data sensed by the robotic crawler; and

executing the variable set of low-level primitives to move the robotic crawler.

2. The method of claim 1, wherein defining a plurality of low-level primitives comprises defining a plurality of low-level primitives corresponding to particular poses of the robotic crawler.

3. The method of claim 1, wherein the means for mapping the variable set of low-level primitives comprises means for activating a predefined primitive when a predefined environmental condition is sensed.

4. The system of claim 1, wherein the means for mapping the variable set of low-level primitives comprises means for deactivating a predefined primitive when a predefined environmental condition is sensed.

5. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises:

switching from a first movement mode optimized for a first environment to a second movement mode optimized for a second, topographically different, environment when the robotic crawler moves from the first environment to the second environment.

6. The method of claim 5, wherein the first environment is a horizontal surface and the second environment is a vertical surface.

7. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises executing a self-righting primitive when the environmental data indicates the robotic crawler is tipping over.

8. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises executing a traction-increasing primitive when the environmental data indicates the robotic crawler is slipping.

9. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises executing a self-stabilizing primitive when the environmental data indicates the robotic crawler is in an unstable pose.

10. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises mapping a high-level movement primitive command into low-level primitives defining pose, traction and drive mode, wherein the pose, traction and drive mode are a function of the environmental data.

11. The method of claim 1, wherein mapping the high-level primitive into a variable set of low-level primitives comprises selecting a movement mode based on the environmental data and activating low-level primitives associated with the selected movement mode.

12. The method of claim 11, wherein selecting a movement mode based on the environmental data uses a predefined association of movement modes to particular environmental conditions.

13. The method of claim 11, wherein selecting a movement mode based on the environmental data comprises adaptively varying movement mode when the environmental data indicates undesired conditions.

14. A computer readable medium comprising computer readable program code to implement the method of claim 1.

15. A method for varying the character of movement of a robotic crawler within an environment, comprising:

defining a series of low-level primitives defining basic movements of the robotic crawler;

accepting an operator commanded high-level primitive for robotic crawler movement;

mapping the high-level primitive into a variable set of low-level primitives;

executing the low-level primitives to implement the high-level primitive operation to move the robotic crawler; and

varying the set of low-level primitives in response to environmental conditions sensed by the robotic crawler to adapt movement mode of the robotic crawler to the environment.

16. The method of claim 15, wherein mapping the high-level primitive into a variable set of low-level primitives comprises:

switching from a first movement mode optimized for a first environment to a second movement mode optimized for a second, topologically different, environment when the robotic crawler moves from the first environment to the second environment.

17. The method of claim 15, wherein mapping the high-level primitive into a variable set of low-level primitives comprises selecting a movement mode based on the environmental data and activating low-level primitives associated with the selected movement mode.

18. A robotic crawler control system capable of varying the character of movement within an environment, comprising:

means for sensing the environment in which the robotic crawler is operating to produce environmental data;

means for accepting from an operator a high-level primitive to be performed by the robotic crawler;

means for mapping the high level primitive into a variable set of low-level primitives for execution by the robotic crawler to produce varying modes of movement, wherein the mapping is a function of the environmental data; and

means for executing the variable set of low-level primitives to move the robotic crawler.

19. The system of claim 18, wherein the plurality of low-level primitives comprises low-level primitives corresponding to particular poses of the robotic crawler.

20. The system of claim 18, wherein the plurality of low-level primitives comprises low-level primitives corresponding to basic movements of the robotic crawler.

21. The system of claim 18, wherein the means for mapping the high-level primitive into a variable set of low-level primitives comprises means for switching from a first movement mode optimized for a first environment to a second movement mode optimized for a second, topologically different, environment when the robotic crawler moves from the first environment to the second environment.

22. A robotic crawler control system comprising:

a robotic crawler having a plurality of joints driven by a plurality of actuators and at least one sensor;

a microprocessor coupled to the plurality of actuators through a plurality of drivers to enable microprocessor control of the actuators;

a command interface configured to accept operator input high-level primitive commands and communicate the high-level primitive commands to the microprocessor; and

a mapper implemented in computer readable instructions executable on the microprocessor to cause the microprocessor to map the high-level primitive commands into a variable set of low-level primitives which execute to produce signals to the drivers to produce varying modes of movement for the robotic crawler.

23. The robotic crawler control system of claim 22 wherein the command interface is a wired link or a wireless link.

24. The robotic crawler control system of claim 22, wherein the sensor is chosen from the group of sensors consisting of a camera, a chemical sensor, a biological sensor, an optical sensor, a moisture sensor, a vibration sensor, a temperature sensor, an electromagnetic sensor, a sound sensor, a force sensor, a sonar sensor, a radar sensor, a lidar sensor, a radioactive isotope sensor, a seismic sensor, a pressure sensor, a magnetometer, a sampling sensor, an orientation sensor, an inertial measurement unit, a joint torque sensor, a joint position sensor, or combinations thereof.

25. The robotic crawler control system of claim 22, wherein the mapper is further configured to select a movement mode based on the environmental data and to activate low-level primitives associated with the selected movement mode

26. The robotic crawler control system of claim 22, wherein the mapper comprises a predefined association of a plurality of movement modes to a plurality of environmental conditions.