ADAPTIVE ROBOTIC INTERFACE APPARATUS AND METHODS

• US 20140358284A1
• Filed: 05/31/2013
• Published: 12/04/2014
• Est. Priority Date: 05/31/2013
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Passot, Jean-Baptiste, Izhikevich, Eugene M., Laurent, Patryk, Wildie, Mark
• Granted Patent: US 9,242,372 B2
• Time in Patent Office: Days
• US Class Current: 700/264
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/36136 User configurable graphics selected as function of kind of machining, display builder
• CPC Class Codes: G05B 2219/36137 Configuration of display device, operator panel
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G06N 3/049 Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/28 Joint

Abstract

Apparatus and methods for training of robotic devices. A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. User interface of the remote controller may be reconfigured based on the detected phenotype and/or operational changes.

Claims

1. A non-transitory computer readable medium having instructions embodied thereon, the instructions being executable to perform a method for controlling a robotic platform, the method comprising:

establishing a data connection to a robotic device;

receiving information related to a phenotype of the robotic device; and

issuing a command to a user interface apparatus, the user interface apparatus executing an action based on the command, the command indicative of at least one configuration associated with the information;

wherein;

the user interface apparatus comprises a display apparatus comprising at least one control configured to relay user input to the robotic device; and

executing the action causes the user interface apparatus to alter a representation of the at least one control consistent with the information.

2. The non-transitory computer readable medium of claim 1, wherein the command is configured to be issued automatically absent an explicit request by the user.

3. The non-transitory computer readable medium of claim 1, wherein:

the phenotype is characterized by one or both of (i) a hardware configuration of the robotic device or (ii) an operational configuration of the robotic device;

the information is based on a statistical parameter related to a plurality of actions executed by the robot responsive to a plurality of user commands relayed by the control; and

individual ones of the plurality of actions configured based on at least one of the hardware configuration the operational configuration of the robotic device.

4. The non-transitory computer readable medium of claim 1, wherein:

the robotic device comprises at least one actuator characterized by an axis of motion; and

the information is configured to relate an orientation of the axis of motion with respect to a reference orientation.

5. The non-transitory computer readable medium of claim 4, wherein:

the reference orientation comprises a geographical coordinate; and

the information comprises a computer design file of the robotic device, the design file comprising a description of the actuator and the axis of motion.

6. The non-transitory computer readable medium of claim 4, wherein:

the reference orientation comprises an axis of the robotic device;

the display apparatus is characterized by a default orientation; and

altering the representation of the at least one control consistent with the information comprises;

determining an angle between the reference orientation and the axis of motion; and

positioning the at least one control on the display apparatus at the angle relative the default orientation.

7. The non-transitory computer readable medium of claim 1, wherein:

the robotic device comprises first and second actuators configured to displace at least a portion of the robotic device in a first direction and a second direction, respectively;

the information comprises parameters of the first direction and the second direction;

the at least one control comprises a first translational motion control and a second translational motion control associated with the first actuator and the second actuator, respectively; and

the act of altering the representation of the at least one control consistent with the information comprises;

positioning the first translational motion control at the first direction; and

positioning the second translational motion control at the second direction, the second direction being perpendicular to the first direction.

8. The non-transitory computer readable medium of claim 7, wherein:

the robotic device is characterized by a default orientation; and

the first direction and the second direction comprise a direction of longitudinal and transverse motions relative to the default orientation.

9. The non-transitory computer readable medium of claim 1, wherein:

the robotic device is characterized by a default orientation;

the robotic device comprises first actuator configured to rotate at least a portion of the robotic device around first axis configured vertically with respect to the default orientation;

the second actuator is configured to move the robotic device in a longitudinal direction relative the default orientation;

the act of altering the representation of the at least one control consistent with the information comprises;

positioning the first translational motion control along the first direction; and

positioning the second translational motion control along the second direction, the second direction being perpendicular to the first direction.

10. The non-transitory computer readable medium of claim 1, wherein the first control comprises a knob having an axis of rotation configured such that mutual orientation of the axis of rotation and the default direction matches mutual orientation of the first axis and the default orientation of the robotic device.

11. The non-transitory computer readable medium of claim 1, wherein:

the at least one control comprises;

a first slider configured to relate forward and reverse motion commands; and

a second slider configured to relate left and right turn commands;

and reverse motion commands; and

main axes of the first and the second sliders are disposed perpendicular with one another.

12. The non-transitory computer readable medium of claim 1, wherein:

the phenotype is characterized by one or both of (i) hardware configuration of the robotic device or (ii) operational configuration of the robotic device; and

the information is configured to relate modification of one or both of the hardware configuration or the operational configuration of the robotic device.

14. The non-transitory computer readable medium of claim 14, wherein the operational configuration of the robotic device comprises one or more of a number of motor actuators, a rotation axis orientation for individual actuators, or a number of actuators configured to be activated simultaneously.

13. The non-transitory computer readable medium of claim 14, wherein the hardware configuration of the robotic device comprises one or more of a number of motor actuators, a rotation axis orientation for individual actuators, or a number of actuators configured to be activated simultaneously.

15. A remote control apparatus of a robot, the apparatus comprising:

a processor;

at least one remote communications interface configured to;

establish an operative link to the robot; and

communicate to the processor one or more configuration indicators associated with a component of the robot; and

a user interface configured to;

based on a receipt of the configuration indicator, display one or more human perceptible control elements consistent with a characteristic of the component.

16. The apparatus of claim 15, wherein:

the user interface comprises a display apparatus;

the component comprises one or both of a wheel or a joint, characterized by axis of rotation;

the characteristic of the component is configured to describe placement of the axis with respect to a reference direction; and

the displaying of one or more human perceptible control elements consistent with the characteristic comprises disposing the control element on the display apparatus at an orientation matching the placement of the axis with respect to the reference.

17. The apparatus of claim 16, wherein:

the robot comprises a sensor configured to determine the placement of the axis with respect to the reference;

the robot detects and communicates an operation configuration of one of its elements; and

a remote controller adjusts the control.

18. The apparatus of claim 16, wherein the user interface comprises one or more of touch-sensing interface, a contactless motion sensing interface, or a radio frequency wireless interface.

19. A method of communicating a robot operational characteristic, the method comprising:

configuring the robot to detect the operational characteristic; and

enabling communication by the robot of the operational characteristic;

wherein the communication of operational characteristic is configured to cause adaptation of the user interface device configured to operate the robot.

20. The method of claim 19, wherein:

the robot comprises an operational element comprising at least one of a wheel or a joint, characterized by axis of rotation;

the operational characteristic comprises an angle of the axis relative a reference direction; and

the adaptation comprises disposing a control element associated with the operational element at the angle relative the reference on the user interface device.

21. The method of claim 20, further comprising:

configuring the robot to detect a modification of the operational characteristic; and

responsive to detected modification of the operational characteristic, communicating the modified operational characteristic associated with the operational element;

wherein the communication of the modified operational characteristic is configured to cause modification of the control element consistent with the modified operational characteristic.

22. The method of claim 21, wherein:

the modification of the operational characteristic comprises a change of the angle by an adjustment amount; and

the modification of the control element consistent with the modified operational characteristic comprises adjustment of the disposed control element by the adjustment amount.

23. The method of claim 21, wherein:

the modification of the operational characteristic comprises a change of the angle by an adjustment amount; and

the modification of the control element consistent with the modified operational characteristic comprises adjustment of the disposed control element by the adjustment amount.

24. The method of claim 21, wherein:

the robot comprises a humanoid robot comprising a first joint configured to be rotated with respect to a first axis and a second joint configured to be rotated with respect to second axis, the first and the second axes being disposed at a non-zero angle relative to one another; and

the adaptation of the user interface device is configured to dispose a first control element and a second control element adapted to control the first joint and the second joint, respectively, at the angle with respect to one another.

25. The method of claim 24, wherein the humanoid robot comprises a robotic apparatus with its body shape built to resemble that of the human body.