TRAINABLE MODULAR ROBOTIC APPARATUS AND METHODS

• US 20150258683A1
• 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: Izhikevich, Eugene, Fisher, Dimitry, Passot, Jean-Baptiste, Polonichko, Vadim, Hatcher, Heathcliff
• Granted Patent: US 9,533,413 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A63H 3/20 with parts moved due to movements of other parts, e.g. limbs
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G06N 20/00 Machine learning
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• 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 901/04 Manual lead through
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/50 Miscellaneous

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 learning controller apparatus for operating a robotic body, the learning controller apparatus comprising:

a processor configured to operate an adaptive learning process in order to execute a task, the adaptive learning process characterized by a plurality of trials;

an interface configured to provide at least one actuation output to the robotic body, the at least one actuation output comprising a first and a second portion configured to effectuate movement of a first and a second controllable element of the robotic body, respectively; and

a first actuator and a second actuator each in operable communication with the processor, the first and the second actuators configured to provide the first and the second portions of the at least one actuation output, respectively;

wherein;

the adaptive learning process is configured to determine, during a trial of the plurality of trials, the at least one actuation output, the at least one actuation output having a first trajectory associated therewith; and

the learning process is further configured to determine, during a subsequent trial of the plurality of trials, another actuation output having a second trajectory associated therewith, the second trajectory being closer to a target trajectory of the task than the first trajectory.

2. The apparatus of claim 1, wherein:

the first controllable element is configured to effectuate a first movement of the robotic body in a first degree of freedom (DOF);

the second controllable element is configured to effectuate a second movement of the robotic body in a second DOF independent from the first DOF; and

the first and the second portions of the at least one actuation output are configured based on one or more computer-executable instructions from the processor.

3. The apparatus of claim 2, wherein:

the operation of the adaptive learning process by the processor is configured based on the one or more computer-executable instructions; and

the processor is configured to upload the one or more computer-executable instructions to a computer readable medium disposed external to an enclosure.

4. The apparatus of claim 2, wherein:

the first movement in the first DOF and the second movement in the second DOF cooperate to effectuate execution of the task by the robotic apparatus;

the adaptive learning process comprises a haptic learning process characterized by at least a teaching input provided by a trainer, and

the teaching input is configured based on an adjustment of the first trajectory via a physical contact of the trainer with a robot.

5. The apparatus of claim 4, wherein:

the adjustment is configured based at least on an observation of a discrepancy between the first trajectory and the target trajectory during the trial; and

the adjustment is configured to cause a modification of the adaptive learning process so as to determine a second control input configured to transition the first trajectory towards the target trajectory during another trial subsequent to the trial.

6. The apparatus of claim 5, wherein:

the modification of the adaptive learning process is characterized by determination of one or more values by the processor,

the learning controller apparatus is configured to provide another actuation output to another robotic body, the another actuation output configured to effectuate a third movement of the another body in the first degree of freedom; and

the another actuation output configured based on the value.

7. The apparatus of claim 2, wherein:

a detachable enclosure is configured to house a camera adapted to provide sensory input to the processor, the sensory input being used for determining an actuation input in accordance with the target task, and

the one or more computer-executable instructions are configured based on at least the sensory input.

8. The apparatus of claim 2, wherein:

the processor is configured to receive an audio input, the audio input being used for determining an actuation input in accordance with the target task, and

the one or more computer-executable instructions are configured based on at least the audio input.

9. The apparatus of claim 8, wherein:

the detachable enclosure is configured to house a sound receiving module configured to effectuate provision of the audio input to the processor, and

the audio input is configured based at least on a command of a trainer.

10. The apparatus of claim 2, wherein:

the detachable enclosure is configured to house one or more inertial sensors configured to provide information related to a movement characteristic of the robotic body to the processor; and

the one or more computer-executable instructions are configured based at least on the information.

11. The apparatus of claim 1, wherein the processor is configured to determine a displacement of a first joint and a second joint associated with the first movement of the first element in the first DOF and the second movement of the second element in the second DOF.

12. The apparatus of claim 11, wherein the displacement determination is configured based at least on feedback information provided from the first or second actuator to the processor, and the feedback information comprises one or more of actuator displacement, actuator torque, and/or actuator current draw.

13. The apparatus of claim 1, wherein:

the robotic body comprises an identifier conveying information related to a configuration of the robotic body; and

the adaptive learning process is configured to adapt a parameter based on receipt of the information, the parameter adaptation configured to enable the adaptive learning process to adapt the at least one actuation output consistent with the configuration of the robotic body.

14. The apparatus of claim 13, wherein:

the configuration information comprises a number of joints of the robotic body;

the information comprises a number and identification of degrees of freedom of the robotic body joints;

the at least one actuation output configured consistent with the configuration of the robotic body comprises output configured to operate one or more joints of the robotic body in a respective degree of freedom; and

the parameter adaptation is configured based on one or more instructions executed by the processor, the instructions related to two or more of degrees of freedom of the body joints.

15. A robotic apparatus operable to conduct one or more assigned tasks, the robotic apparatus produced according to the method comprising:

providing a control module configured to produce one or more inputs;

mating the control module to an otherwise inoperable robotic body having one or more degrees of freedom; and

causing the control module to communicate the one or more inputs with the robotic body to enable the robotic body to conduct the one or more assigned tasks using at least one of the one or more degrees of freedom.

16. The robotic apparatus of claim 15, wherein the control module comprises a learning apparatus capable of being trained to perform the one or more assigned tasks via at least feedback;

and

the method further comprises training the learning apparatus to perform the one or more assigned tasks via the at least feedback.

17. The robotic apparatus of claim 15, wherein the control module comprises one or more motive sources, and the one or more inputs comprise one or more mechanical force inputs.

18. An interface for use between components of a robotic apparatus, comprising:

a first interface portion having a shape; and

a second interface portion particularly adapted to interface only with other interface portions having the shape;

wherein mating of the first and second interface portions renders the robotic apparatus animate via at least a mechanical force transferred over the mated first and second interface portions.

19. The interface of claim 18, wherein the first interface portion comprises a substantially male feature, and the second interface portion comprises a substantially female feature, the substantially male and substantially female feature configured to rigidly but separably attach to one another.

20. The interface of claim 18, wherein the mated first and second interface portions comprise at least one mechanical interface configured to transfer a force, and at least one electrical interface configured to transfer electrical signals or power across the mated first and second interface portions;

and

the shape comprises a substantially male feature.