Methods and systems for robotic command language

• US 8,452,451 B1
• Filed: 05/04/2012
• Issued: 05/28/2013
• Est. Priority Date: 05/06/2011
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Francis, Anthony G. Jr., Hickman, Ryan, Kuffner, James J. Jr.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US13/464,414
• Time in Patent Office: 389 Days
• Field of Search: 700/245, 700/246, 700/257, 700/258, 700/259, 901/8, 901/19, 901/30, 901/46
• US Class Current: 700/258
• CPC Class Codes: B25J 9/1658 characterised by programming language
• CPC Class Codes: G05B 2219/40392 Programming, visual robot programming language

Abstract

Methods and systems for robotic command and operation are provided. In some examples, a robot may be configured to receive a short-form command input that is comprised of an action verb and an object/target, and to analyze contextual/situational data for event outcomes from which the robot can determine an action of a plurality of possible actions to execute. The determination and analyses functions may be performed, in whole or part, through use of a cloud computing system.

Claims

1. A method comprising:

receiving, at a robotic device that includes at least one sensory device, a short-form command comprising at least an action descriptor and a target for the action descriptor, wherein the action descriptor includes a verb;

determining a plurality of functions corresponding to the action descriptor, wherein determining the plurality of functions comprises determining an action to perform based on the verb, and wherein determining the action to perform based on the verb comprises determining a past action performed by the robotic device based on the verb or a similar verb;

determining a plurality of targets in an environment of the robotic device that at least relate to the target; and

determining, from the plurality of functions, a given function to perform based on (i) the plurality of targets in the environment relating to the target and (ii) the environment of the robotic device.

2. The method of claim 1, further comprising:

determining a location of each of the plurality of targets in the environment of the robotic device relating to the target; and

determining the given function to perform based on the location of each of the plurality of targets in the environment.

3. The method of claim 1, further comprising:

determining a lower level of task sequences associated with executing each of the plurality of functions; and

determining, from the plurality of functions, the given function to perform based on the lower level of task sequences associated with executing, within the environment of the robotic device, each of the plurality of functions.

4. The method of claim 1, further comprising:

providing the plurality of functions for selection; and

receiving a selection of one of the plurality of functions to perform.

5. The method of claim 1, wherein determining the plurality of targets in the environment of the robotic device relating to the target comprises receiving sensory data input to the at least one sensory device, wherein the sensory data input relates to the environment of the robot.

6. The method of claim 1, wherein determining, from the plurality of functions, the given function to perform comprises:

determining a lower level of task sequences associated with executing each of the plurality of functions; and

determining which of the lower level of task sequences the robotic device is capable of performing based on mechanical capabilities of the robotic device.

7. The method of claim 1, further comprising determining the plurality of functions based on the target being one of the plurality of targets in the environment.

8. The method of claim 1, wherein receiving the short-form command comprises receiving the short-form command from a user, and the method further comprises:

determining a location of the user;

determining the plurality of functions based on the location of the user.

9. The method of claim 1, further comprising:

determining the environment of the robotic device;

determining the plurality of functions based on objects in the environment.

10. The method of claim 1, further comprising:

ranking the plurality of functions based on the environment of the robotic device, the plurality of targets in the environment of the robotic device, and capabilities of the robotic device; and

based on the ranking, determining the given function to perform.

11. The method of claim 1, wherein the short-form command is in a form of a verb followed by a noun.

12. The method of claim 1, wherein receiving the short-form command comprises receiving the short-form command from a user, and the method further comprises:

determining an activity of the user; and

determining, from the plurality of functions, the given function to perform based on the activity of the user.

13. The method of claim 1, further comprising:

determining a second plurality of functions based on actions capable using the plurality of targets in the environment of the robotic device; and

determining, from the plurality of functions, the given function to perform based also on the second plurality of functions.

14. A non-transitory computer readable medium having stored therein executable instructions that, when executed by a robotic device that includes at least one sensory device, causes the robotic device to perform functions comprising:

receiving a short-form command comprising at least an action descriptor and a target for the action descriptor, wherein the action descriptor includes a verb;

determining a plurality of functions corresponding to the action descriptor, wherein determining the plurality of functions comprises determining an action to perform based on the verb, and wherein determining the action to perform based on the verb comprises determining a past action performed by the robotic device based on the verb or a similar verb;

determining a plurality of targets in an environment of the robotic device that at least relate to the target; and

determining, from the plurality of functions, a given function to perform based on the plurality of targets in the environment relating to the target and on the environment of the robotic device.

15. The computer readable medium of claim 14, wherein the instructions are further executable by the robotic device to cause the robotic device to perform functions comprising:

determining a lower level of task sequences associated with executing each of the plurality of functions;

determining which of the lower level of task sequences the robotic device is capable of performing based on mechanical capabilities of the robotic device; and

determining, from the plurality of functions, the given function to perform based on which of the lower level of task sequences the robotic device is capable of performing within the environment of the robotic device.

16. The computer readable medium of claim 14, wherein the functions further comprise:

determining the plurality of functions based on the environment of the robotic device and based on objects in the environment.

17. A robotic device comprising:

one or more processors;

at least one sensor coupled to the one or more processors and configured to capture data about an environment in a vicinity of the at least one sensor; and

memory including executable instructions stored thereon that, when executed by the one or more processors, causes the robotic device to perform functions comprising;

receiving a short-form command comprising at least an action descriptor and a target for the action descriptor, wherein the action descriptor includes a verb;

determining a plurality of functions corresponding to the action descriptor by determining a past action performed by the robotic device based on the verb or a similar verb;

determining a plurality of targets in the environment of the robotic device that at least relate to the target; and

determining, from the plurality of functions, a given function to perform based on the plurality of targets in the environment relating to the target and on the environment of the robotic device.

18. The robotic device of claim 17, further comprising:

determining a second plurality of functions based on actions capable using the plurality of targets in the environment of the robotic device; and

determining, from the plurality of functions, the given function to perform based also on the second plurality of functions.