Mobile human interface robot
First Claim
Patent Images
1. A method comprising:
- receiving, at data processing hardware of a human interface robot, a touch signal from a touch sensor of a sensor system of the human interface robot, the sensor system responsive to human interaction, the touch signal indicative of human contact with the human interface robot and indicating a contact force direction with respect to a forward drive direction of the human interface robot; and
in response to receiving the touch signal, issuing at least one drive command from the data processing hardware to a drive system of the human interface robot, the at least one drive command causing the drive system to maneuver the human interface robot across a floor surface along a commanded drive direction corresponding to the contact force direction,wherein the touch signal indicates a contact force magnitude of the human contact with the human interface robot, and the at least one drive command is based on the contact force magnitude.
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Abstract
A mobile human interface robot including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.
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Citations
18 Claims
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1. A method comprising:
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receiving, at data processing hardware of a human interface robot, a touch signal from a touch sensor of a sensor system of the human interface robot, the sensor system responsive to human interaction, the touch signal indicative of human contact with the human interface robot and indicating a contact force direction with respect to a forward drive direction of the human interface robot; and in response to receiving the touch signal, issuing at least one drive command from the data processing hardware to a drive system of the human interface robot, the at least one drive command causing the drive system to maneuver the human interface robot across a floor surface along a commanded drive direction corresponding to the contact force direction, wherein the touch signal indicates a contact force magnitude of the human contact with the human interface robot, and the at least one drive command is based on the contact force magnitude. - View Dependent Claims (2, 3, 7, 8, 9)
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4. A method comprising:
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receiving, at data processing hardware of a human interface robot, a touch signal from a sensor system of the human interface robot, the sensor system responsive to human interaction, the touch signal indicative of human contact with the human interface robot and indicating a contact force direction with respect to a forward drive direction of the human interface robot; and in response to receiving the touch signal; issuing at least one drive command from the data processing hardware to a drive system of the human interface robot, the at least one drive command causing the drive system to maneuver the human interface robot across a floor surface along a commanded drive direction corresponding to the contact force direction; enabling a touch teleoperation behavior executing on the data processing hardware, the touch teleoperation behavior allowing the issuance of the at least one drive command that causes the drive system to maneuver the human interface robot along the drive direction corresponding to the contact force direction; and disabling an obstacle detection and obstacle avoidance behavior executing on the data processing hardware while the touch teleoperation behavior is enabled, the obstacle detection and obstacle avoidance behavior configured to cause issuance of avoidance drive commands to the drive system that cause the drive system to maneuver the human interface robot to avoid contact with an object detected by the sensor system. - View Dependent Claims (5, 6)
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10. A human interface robot comprising:
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a robot body defining a forward drive direction; a drive system supported by the robot body and configured to maneuver the human interface robot across a floor surface; a sensor system disposed on the robot body and comprising a touch sensor responsive to human interaction; and a controller in communication with the drive system and the sensor system, the controller configured to issue at least one drive command to the drive system in response to a touch signal received from the sensor system, the touch signal indicative of human contact with the robot body and indicating a contact force direction with respect to the forward drive direction, the at least one drive command causing the drive system to maneuver the human interface robot along a commanded drive direction corresponding to the contact force direction, wherein the touch signal indicates a contact force magnitude of the human contact with the body, and the at least one drive commands is based on the contact force magnitude. - View Dependent Claims (11, 12, 16, 17, 18)
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13. A human interface robot comprising:
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a robot body defining a forward drive direction; a drive system supported by the robot body and configured to maneuver the human interface robot across a floor surface; a sensor system disposed on the robot body and responsive to human interaction; and a controller in communication with the drive system and the sensor system, the controller configured to issue at least one drive command to the drive system in response to a touch signal received from the sensor system, the touch signal indicative of human contact with the robot body and indicating a contact force direction with respect to the forward drive direction, the at least one drive command causing the drive system to maneuver the human interface robot along a commanded drive direction corresponding to the contact force direction, wherein the controller is configured to, in response to receiving the touch signal; enable a touch teleoperation behavior executing on the controller, the touch teleoperation behavior causing the issuance of the at least one drive command that causes the drive system to maneuver the human interface robot along the drive direction corresponding to the contact force direction; and disable an obstacle detection and obstacle avoidance behavior executing on the controller while the touch teleoperation behavior is enabled, the obstacle detection and obstacle avoidance behavior configured to cause issuance of avoidance drive commands to the drive system that cause the drive system to maneuver the human interface robot to avoid contact with an object detected by the sensor system. - View Dependent Claims (14, 15)
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Specification