TRAINABLE MODULAR ROBOTIC APPARATUS AND METHODS

• US 20150258682A1
• Filed: 03/13/2014
• Published: 09/17/2015
• Est. Priority Date: 03/13/2014
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Fisher, Dimitry, Passot, Jean-Baptiste, Izikevich, Eugene
• Granted Patent: US 9,987,743 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20311 including power cable or connector

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.

Claims

1. A modular robotic apparatus body, comprising:

a first movable element and a second movable element; and

a mechanical interface configured to effectuate movement of the first and the second movable elements separately based on one or more actuation inputs from a control apparatus when the control apparatus is mated to the modular robotic apparatus body.

2. The body of claim 1, wherein the mechanical interface is configured to selectively mate with the control apparatus by way of at least one feature on the modular robotic apparatus body.

3. The body of claim 2, wherein the selective mate is facilitated by at least one second feature on the control apparatus, the at least one second feature on the control apparatus being configured to mate directly with the at least one feature on the modular robotic apparatus body.

4. The body of claim 3, wherein the at least one second feature on the control apparatus and the at least one feature on the modular robotic apparatus body comprise complementary first and second components configured to only mate with each other.

5. The body of claim 3, wherein the at least one second feature on the control apparatus and the at least one feature on the modular robotic apparatus body comprise complementary male and female connector components having at least one electrical interface associated therewith.

6. The body of claim 1, wherein the control apparatus comprises a processor and a plurality of actuators, the control apparatus being disposed in an enclosure configured to be selectively detachable from the modular robotic apparatus body.

7. The body of claim 6, wherein the one or more actuation inputs are each configured to cause mechanical movement of one or more of the plurality of actuators.

8. The body of claim 6, wherein individual ones of the one or more actuation inputs are configured to apply electromagnetic energy by one or more of the plurality of actuators.

9. The body of claim 1, wherein the control apparatus comprises a processor and a plurality of actuators, the control apparatus being disposed in an enclosure configured to be selectively mated to or unmated from the modular robotic apparatus body via a proprietary interface.

10. A modular robotic apparatus body, comprising:

a first movable element and a second movable element;

a first joint configured to move the first movable element in a first degree of freedom (DOF);

a second joint configured to move the second movable element in a second DOF independent from the first DOF; and

an interface configured to receive at least one actuation input from a control apparatus, the at least one actuation input comprising a first and second portions configured to effectuate movement of the first and the second joints, respectively.

11. The body of claim 10, wherein:

the control apparatus comprises a processor and a first actuator and a second actuator each in operable communication with the processor, the control apparatus being disposed in an enclosure configured to be detachable from the modular robotic apparatus body; and

the first actuator and the second actuator are configured to produce, respectively, the first and the second portions of the at least one actuation input.

12. The body of claim 10, wherein the first movable element movement in the first DOF and the second movable element movement in the second DOF cooperate to effectuate execution of a target task by the modular robotic apparatus body.

13. The body of claim 12, wherein when the enclosure is attached to the body, commencement of the task execution is enabled.

14. The body of claim 10, wherein:

the first movable element and the second movable element are configured in accordance with a first kinematic chain characterized by first control process operable in accordance with the at least one actuation input;

the detachable box is configured to be coupled to another body so as to produce another functional modular robotic apparatus;

the another body comprising a plurality of movable elements configured in accordance with a second kinematic chain characterized by a second control process operable in accordance with another actuation input;

the first and the second control processes being distinct from one another;

the another body comprising another interface; and

the another actuation signal being generated by a controller and configured to be provided to plurality of movable elements via the another interface.

15. The body of claim 14, wherein the another body comprises an identifier conveying configuration information related to a configuration of the another body.

16. The body of claim 15, wherein:

the configuration information comprises a first number of joints of the another body; and

the second kinematic chain configuration comprises a second number and identification of degrees of freedom of one or more second body joints.

17. The body of claim 15, wherein the identifier comprises a mechanical apparatus comprising at least one of a spline, and a key.

18. The body of claim 17, wherein the identifier comprises an electronic module comprising a nonvolatile memory configured to store the configuration information.

19. The body of claim 14, wherein the processor is configured to download one or more executable instructions configured to adapt operation of the first and second control process in accordance with the first and second kinematic chain configuration, respectively.

20. The body of claim 19, wherein:

the another body comprises an identifier configured to convey information related to configuration of the another body to the controller;

the configuration information comprises a number of joints of the another body; and

the second kinematic chain configuration comprises a number and identification of degrees of freedom of the another body joints.

21. The body of claim 20, wherein the identifier is identifies a program to download.

22. The body of claim 14, wherein the body and the another body are characterized by different kinematic configurations.

23. A modular robotic apparatus, comprising:

a body comprising a first movable element configured to be displaced in a first degree of freedom (DOF) and a second movable element configured to be displaced in a second DOF;

an interface configured to convey at least one actuation input to the body, the at least one actuation input comprising first and second portions configured to effectuate movement of the first and the second movable elements, respectively; and

a control component configured to be coupled to the body via the interface, the control component comprising;

a processor; and

a first actuator and a second actuator each in operable communication with the processor, the control component being disposed in an enclosure configured to be detachable from the body; and

wherein;

the first actuator and the second actuator are configured to produce, respectively, the first and the second portions of the at least one actuation input; and

the first movable element movement in the first DOF and the second movable element movement in the second DOF cooperate to effectuate execution of a target task by the modular robotic apparatus.

24. The apparatus of claim 23, wherein:

the enclosure is configured to house a camera adapted to provide sensory input to the processor, the sensory input being used for determining the at least one actuation signal in accordance with the target task; and

the body comprises an optical conduit configured to convey ambient visual signal to the camera.

25. The apparatus of claim 24, wherein:

the camera comprises a first and a second sensing aperture configured to provide the sensory input comprised of a first and a second sensory streams;

the first sensory stream being characterized by a spatial coordinate that is displaced from that of the second sensory stream; and

the first and the second sensory streams cooperate to enable stereo vision processing by the processor, the stereo vision processing configured to provide context relevant to the target task.

26. The body of claim 24, wherein:

the camera comprises sensing apertures configured to provide the sensory input to the processor for processing, the processing configured to provide context relevant to the target task;

the processing comprises an algorithm configured to detect a face in the sensory input; and

the movement of the first and the second joints cooperate to effectuate a face tracking operation.

27. The body of claim 23, wherein:

the first and the second joint are connected to the enclosure via a first and a second tendon, the first and the second tendons each selected from the group consisting of a rope, a string, an elastic, and a movable plastic connector.

28. The body of claim 27, wherein the body comprises a mechanical spring configured to provide tension to at least one of the first and the second tendon.

29. The body of claim 28, wherein connecting the enclosure to the body is configured to cause movement of the interface configured to enable latching of at least one of the first and the second tendons to a respective one of the first and the second actuators.

30. The body of claim 23, wherein the first and the second joint are connected to the enclosure via a mechanical module comprising one or more gears.