Apparatus and methods for haptic training of robots
First Claim
1. A method of operating a robot comprising:
- determining a first control signal associated with an environmental context of the robot;
causing, based at least in part on the determined first control signal, the robot to perform a task characterized by a target trajectory; and
responsive to observing a discrepancy between an actual trajectory and the target trajectory, adjusting the actual trajectory based at least in part on a physical contact by an operator with the robot, wherein adjusting of the actual trajectory comprises determining a second control signal configured to cooperate with the first control signal to cause the robot to transition the actual trajectory towards the target trajectory in a subsequent performance of the task in the environmental context.
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Accused Products
Abstract
Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot'"'"'s learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
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Citations
20 Claims
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1. A method of operating a robot comprising:
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determining a first control signal associated with an environmental context of the robot; causing, based at least in part on the determined first control signal, the robot to perform a task characterized by a target trajectory; and responsive to observing a discrepancy between an actual trajectory and the target trajectory, adjusting the actual trajectory based at least in part on a physical contact by an operator with the robot, wherein adjusting of the actual trajectory comprises determining a second control signal configured to cooperate with the first control signal to cause the robot to transition the actual trajectory towards the target trajectory in a subsequent performance of the task in the environmental context. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robot apparatus, comprising:
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one or more actuators configured to maneuver the robot apparatus; a sensor module configured to convey information related to an environment of the robot apparatus; and an adaptive controller operable in accordance with a learning process configured to; guide the robot apparatus using the one or more actuators to a target state in accordance with the information; determine a discrepancy between a target trajectory that corresponds to the target state and a current trajectory that corresponds to a current state, the determination based at least in part on a physical contact by a user; and update the learning process based on the determined discrepancy, wherein the updated learning process comprises a determination of a correction signal to guide the robot apparatus using the one or more actuators to the target state based on a subsequent conveyance of information by the sensor module. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A non-transitory computer readable medium comprising a plurality of instruction which, when executed by one or more processors, effectuate control of a robotic apparatus by:
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based on a context, determine a first control signal configured to transition the robotic apparatus to a first state; determine a discrepancy between a current trajectory associated with a current state, and a first trajectory associated with the first state, where the discrepancy between the trajectories comprises a measurable difference; and determine a second control signal based on the discrepancy, the second control signal configured to transition the robotic apparatus to the current state. - View Dependent Claims (17, 18, 19, 20)
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Specification