Adaptive robotic interface apparatus and methods

• US 9,242,372 B2
• Filed: 05/31/2013
• Issued: 01/26/2016
• Est. Priority Date: 05/31/2013
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Laurent, Patryk, Passot, Jean-Baptiste, Wildie, Mark, Izhikevich, Eugene M.
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US13/907,734
• Publication Number:
  US 20140358284A1
• Time in Patent Office: 970 Days
• US Class Current: 1/1
• 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 machine-readable storage medium having instructions embodied thereon, the instructions being executable to perform a method for controlling a robotic apparatus, the method comprising:

establishing a data connection to the robotic apparatus;

receiving information related to a phenotype of the robotic apparatus; 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 apparatus;

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

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

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

individual ones of the plurality of actions are determined based on one or both of the hardware configuration of the robotic apparatus or the operational configuration of the robotic apparatus.

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

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

the at least one control comprises;

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

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

(3) reverse motion commands; and

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

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

the phenotype is characterized by one or both of (i) a 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.

5. The non-transitory machine-readable storage medium of claim 4, 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.

6. The non-transitory machine-readable storage medium of claim 4, 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.

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

the phenotype is characterized by a hardware configuration of the robotic apparatus;

the information is based on a statistical parameter related to a plurality of actions executed by the robotic apparatus 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 of the robotic apparatus.

8. The non-transitory machine-readable storage medium of claim 7, wherein altering of the representation of the at least one control consistent with the information comprises rendering the control on the display apparatus consistent with the hardware configuration.

9. The non-transitory machine-readable storage medium of claim 8, wherein:

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

the hardware configuration is configured to convey placement of the axis with respect to a reference direction; and

the altering of the representation of the at least one control consistent with the information comprises disposing the control on the display apparatus at an orientation matching the placement of the axis with respect to the reference direction.

10. The non-transitory machine-readable storage medium of claim 9, wherein the reference direction comprises orientation of one of display dimensions.

11. The non-transitory machine-readable storage medium of claim 8, wherein the user interface apparatus comprises one or more of touch-sensing interface, a contactless motion sensing interface, or a radio frequency wireless interface.

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

the robotic apparatus comprises a humanoid robot comprising (1) a first joint configured to be rotated with respect to a first axis and (2) a second joint configured to be rotated with respect to a second axis, a non-zero angle existing between the first axis and the second axis; and

the altering of the representation of the at least one control 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 non-zero angle.

13. A non-transitory machine-readable storage medium having instructions embodied thereon, the instructions being executable to perform a method for controlling a robotic device, the method comprising:

establishing a data connection to the 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;

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

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.

14. The non-transitory machine-readable storage medium of claim 13, wherein:

the reference orientation comprises a geographical coordinate; and

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

15. The non-transitory machine-readable storage medium of claim 13, 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.

16. The non-transitory machine-readable storage medium of claim 15, wherein:

the phenotype is characterized by a hardware configuration of the robotic device, the hardware configuration comprising information related to one or more of the actuator and the axis of the robotic device;

the information is based on a statistical parameter related to a plurality of actions executed by the robotic device 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 of the robotic device.

17. The non-transitory machine-readable storage medium of claim 16, wherein the command is configured to be issued automatically absent an explicit request by the user.

18. The non-transitory machine-readable storage medium of claim 17, wherein altering of the representation of the at least one control consistent with the information comprises rendering the control on the display apparatus consistent with the hardware configuration.

19. The non-transitory machine-readable storage medium of claim 13, wherein the reference direction comprises orientation of one of display dimensions.

20. A non-transitory machine-readable storage medium having instructions embodied thereon, the instructions being executable to perform a method for controlling a robotic device, the method comprising:

establishing a data connection to the 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;

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

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.

21. The non-transitory machine-readable storage medium of claim 20, 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.

22. An apparatus configured to control a robotic device, the apparatus comprising:

a non-transitory machine-readable storage medium having machine-readable instructions embodied thereon; and

one or more physical processors configured by the machine-readable instructions to;

establish a data connection to the robotic device;

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

issue 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;

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

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 about a 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; and

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

providing a rotational control element configured to receive an indication related to rotation of the least a portion of the robotic device about the first axis disposed vertically with respect to the default orientation, an axis of the rotational control element being disposed parallel to the first axis; and

providing a longitudinal control element configured to receive an indication related to displacement of the robotic device along the longitudinal direction, an axis of the longitudinal control element being disposed parallel to the longitudinal direction.

23. The apparatus of claim 22, wherein the rotational control element comprises a knob having an axis of rotation configured such that there is a match between (1) a mutual orientation of the axis of rotation and the longitudinal direction and (2) a mutual orientation of the axis of rotation and the default orientation of the robotic device.

24. The apparatus of claim 22, 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 robotic device responsive to a plurality of user commands relayed by the control; and

altering of the representation of the at least one control consistent with the information comprises rendering the control on the display apparatus consistent with the hardware configuration.

25. The apparatus of claim 24, wherein:

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

the hardware configuration is configured to convey placement of the axis of rotation with respect to a reference direction; and

the altering of the representation of the at least one control consistent with the information comprises disposing the control on the display apparatus at an orientation matching the placement of the axis of rotation with respect to the reference direction.

26. The apparatus of claim 24, wherein the user interface apparatus comprises one or more of touch-sensing interface, a contactless motion sensing interface, or a radio frequency wireless interface.