ACTION SELECTION APPARATUS AND METHODS
First Claim
1. A non-transitory computer readable medium having instructions embodied thereon, the instructions being executable by a processor to perform a method for controlling a robotic platform, the method comprising:
- providing a first activation signal, a second activation signal, a first motor control signal, and a second motor control signal, the first activation signal being associated with the first motor control signal and the second activation signal being associated with the second motor control signal;
selecting the first motor control signal for execution, the selection based on a comparison of the first activation signal and the second activation signal; and
instructing the robotic platform to perform a first action based on execution of the first motor control signal.
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Accused Products
Abstract
An action for execution by a robotic device may be selected. A robotic controller may determine that two or more actions are to be executed based on analysis of sensory and/or training input. The actions may comprise target approach and/or obstacle avoidance. Execution of individual actions may be based on a control signal and a separate activation signal being generated by the controller. Control signal execution may be inhibited by the controller relay block. Multiple activation signals may compete with one another in winner-take-all action selection network to produce selection signal. The selection signal may temporarily pause inhibition of a respective portion of the relay block that is associated with the winning activation signal channel. A disinhibited portion of the relay block may provide the respective control signal for execution by a controllable element. Arbitration between individual actions may be performed based on evaluation of activation signals.
58 Citations
16 Claims
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1. A non-transitory computer readable medium having instructions embodied thereon, the instructions being executable by a processor to perform a method for controlling a robotic platform, the method comprising:
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providing a first activation signal, a second activation signal, a first motor control signal, and a second motor control signal, the first activation signal being associated with the first motor control signal and the second activation signal being associated with the second motor control signal; selecting the first motor control signal for execution, the selection based on a comparison of the first activation signal and the second activation signal; and instructing the robotic platform to perform a first action based on execution of the first motor control signal.
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2. A robotic controller apparatus, the apparatus comprising:
one or more processors configured to execute computer program modules to cause one or more processors to; provide a first control signal and a second control signal, the first control signal being configured to operate first controllable element of a robotic platform and the second control signal being configured to operate a second controllable element of the robotic platform; provide a first activation signal and a second activation signal, the first control signal and the second control signal each being configured to enable actuation of the first and second controllable elements, respectively; determine an enable signal based on competitive information associated with the first control signal and the second control signal; and enable execution of one and only one of the first control signal or the second control signal based on the enable signal. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of providing a selected control signal of a plurality of control signals to an actuator, the method comprising:
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coupling individual ones of the plurality of control signals to a plurality of relays, individual ones of the plurality of relays being configured, responsive to being activated, to provide a respective control signal to the actuator; preventing provision of all but one of the of plurality of control signals to the actuator by deactivating all but one of the of plurality of relays; based on a plurality of activation signals associated with individual ones of the plurality of control signals, determining a relay selection signal configured to activate a relay of the plurality of relays; and effectuating provision of the selected control signal responsive to activation of the relay of the plurality of relays based on the selection signal. - View Dependent Claims (13, 14, 15, 16)
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Specification