Suggesting, selecting, and applying task-level movement parameters to implementation of robot motion primitives
First Claim
1. A computer-implemented method, comprising:
- determining, by one or more processors, one or more physical attributes of an object to be acted upon by a robot while the robot performs a task;
determining, by one or more of the processors, based on the task to be performed by the robot and the one or more physical attributes of the object, a suggested task-level movement parameter for application to movement of the robot while performing the task;
providing, by one or more of the processors, via a graphical user interface, an indication of the suggested task-level movement parameter;
receiving, by one or more of the processors, via the graphical user interface, a selection of the suggested task-level movement parameter or a user-defined task-level movement parameter;
determining, by one or more of the processors, based on the received selection, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and
identifying, by one or more of the processors, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task; and
operating, by one or more of the processors, the one or more operational components of the robot to implement the plurality of motion primitives pursuant to the plurality of component-level movement parameters.
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Accused Products
Abstract
Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.
41 Citations
20 Claims
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1. A computer-implemented method, comprising:
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determining, by one or more processors, one or more physical attributes of an object to be acted upon by a robot while the robot performs a task; determining, by one or more of the processors, based on the task to be performed by the robot and the one or more physical attributes of the object, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing, by one or more of the processors, via a graphical user interface, an indication of the suggested task-level movement parameter; receiving, by one or more of the processors, via the graphical user interface, a selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, by one or more of the processors, based on the received selection, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, by one or more of the processors, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task; and operating, by one or more of the processors, the one or more operational components of the robot to implement the plurality of motion primitives pursuant to the plurality of component-level movement parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by a computing system, cause the computing system to perform the following operations:
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determining one or more physical attributes of an environment in which a robot is to perform a task; determining, based on the task to be performed by the robot and the one or more physical attributes of the environment, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task; and operating the one or more operational components of the robot to implement the plurality of motion primitives pursuant to the plurality of component-level movement parameters.
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16. A control system comprising one or more processors and memory operably coupled with the one or more processors, wherein the memory stores instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to:
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determine, based on a task to be performed by a robot and an aggregate amount of information known about an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; provide output indicative of the suggested task-level movement parameter; receive input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determine, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; identify, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task; and operate the one or more operational components of the robot to implement the plurality of motion primitives pursuant to the plurality of component-level movement parameters. - View Dependent Claims (17, 18, 19, 20)
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Specification