Methods and systems to provide feedback based on a motion per path metric indicative of an effect of motion associated with components of a robotic device

• US 9,744,678 B2
• Filed: 05/26/2016
• Issued: 08/29/2017
• Est. Priority Date: 12/03/2014
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Edsinger, Aaron
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/165,160
• Publication Number:
  US 20160263752A1
• Time in Patent Office: 460 Days
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.

Claims

1. A method comprising:

receiving an input indicative of operational information associated with a robotic device;

determining a motion per path metric at one or more positions of the robotic device according to the operational information;

determining a force associated with the motion per path metric at the one or more positions;

based on the motion per path metric and the force, determining, by one or more processors, one or more feedback characteristics, wherein the one or more feedback characteristics vary according to an effect of motion at the one or more positions;

providing, to an indicator coupled to the robotic device, information indicative of the one or more feedback characteristics, wherein the information indicative of the one or more feedback characteristics is associated with an upcoming operation of the robotic device and includes a visual characteristic that indicates a proximity perimeter area related to a distance around the robotic device needed for the upcoming operation of the robotic device; and

displaying the visual characteristic by the indicator prior to the robotic device performing the upcoming operation so as to inform of the proximity perimeter area prior to the robotic device performing the operation.

2. The method of claim 1, further comprising:

based on the force being greater than a threshold at the one or more positions, providing to the indicator information informing of possible dangerous motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

3. The method of claim 1, further comprising:

based on the force being less than a threshold at the one or more positions, providing to the indicator information informing of safe motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

4. The method of claim 1, wherein the operational information comprises one or more of power requirements associated with the robotic device, geometric information associated with one or more components of the robotic device, and a motion plan associated with the robotic device.

5. The method of claim 1, wherein the indicator comprises a visual indicator.

6. The method of claim 1, further comprising:

determining that the force is greater than a threshold at the one or more positions;

determining a time period prior to a start of the operation; and

based on the time period, adjusting the indicator to display a given color, wherein the given color is associated with an upcoming operation of the robotic device.

7. The method of claim 1, further comprising:

providing, to a second indicator located remotely from the robotic device, information indicative of the one or more feedback characteristics.

8. The method of claim 1, wherein the information indicative of the one or more feedback characteristics further includes an aural signal or a haptic signal.

9. A robotic device comprising:

one or more components configured to be actuated for movement;

one or more processors configured to determine a motion per path metric of the one or more components at one or more positions according to received operation information associated with the robotic device, and the one or more processors configured to determine a force associated with the motion per path metric at the one or more positions, and based on the motion per path metric and the force to determine one or more feedback characteristics, wherein the one or more feedback characteristics vary according to an effect of motion at the one or more positions and is associated with an upcoming operation of the robotic device so as to inform of a proximity perimeter area related to a distance around the robotic device needed for operation of the robotic device prior to the robotic device performing the operation; and

an indicator coupled to the one or more components and to the one or more processors, the indicator configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion, wherein the feedback includes a visual characteristic that indicates the proximity perimeter area, and the indicator displays the visual characteristic prior to the robotic device performing the upcoming operation so as to inform of the proximity perimeter area prior to the robotic device performing the operation.

10. The robotic device of claim 9, wherein the one or more processors are further configured to:

based on the force being greater than a threshold at the one or more positions, provide to the indicator information informing of possible dangerous motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

11. The robotic device of claim 9, wherein the one or more processors are further configured to:

based on the force being less than a threshold at the one or more positions, provide to the indicator information informing of safe motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

12. The robotic device of claim 9, wherein the indicator comprises a circular multi-color light emitting diode (LED) array.

13. A robotic device comprising:

one or more actuators coupled through one or more joints to form one or more components;

one or more processors configured to determine a motion per path metric of the one or more components based on an operation of the robotic device, to determine a force associated with the motion per path metric at one or more steps of operation of the robotic device, and to determine one or more feedback characteristics based on the motion per path metric and the force, wherein the one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components and is associated with an upcoming operation of the robotic device so as to inform of a proximity perimeter area related to a distance around the robotic device needed for operation of the robotic device prior to the robotic device performing the operation;

an indicator coupled to the one or more components to provide feedback about the one or more components; and

a controller programmable to control the indicator coupled to the one more components to provide the feedback according to the one or more feedback characteristics, wherein the feedback includes a visual characteristic that indicates the proximity perimeter area and the controller causes the indicator to display the visual characteristic prior to the robotic device performing the upcoming operation so as to inform of the proximity perimeter area prior to the robotic device performing the operation.

14. The robotic device of claim 13, wherein the indicator is located on an exterior surface proximal to an end effector of the robotic device.

15. The robotic device of claim 13, further comprising:

a plurality of visual indicators coupled to the one or more components to provide feedback about the one or more components.

16. The robotic device of claim 13, wherein the controller is configured to adjust the feedback associated with the indicator based on a given one or more feedback characteristics associated with the upcoming operation of the robotic device based on the motion per path metric being greater than a threshold.