Trainable modular robotic apparatus and methods

• US 10,391,628 B2
• Filed: 03/30/2017
• Issued: 08/27/2019
• Est. Priority Date: 03/13/2014
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Izhikevich, Eugene, Fisher, Dimitry, Passot, Jean-Baptiste
• Primary Examiner(s): Cook, Jake
• Application Number:
  US15/474,880
• Publication Number:
  US 20170266805A1
• Time in Patent Office: 880 Days
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20311 including power cable or connector

Abstract

Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.

Claims

1. A modular robotic apparatus body, comprising:

a first movable element and a second movable element; and

an electrical interface configured to effectuate movement of the first and the second movable elements separately based on one or more inputs from a control apparatus when the control apparatus is mated to the modular robotic apparatus body;

wherein the control apparatus is configured to receive feedback signals configured to train the body.

2. The body of claim 1, wherein the electrical interface is configured to selectively mate with the control apparatus by way of at least one feature on the modular robotic apparatus body.

3. The body of claim 2, wherein the selective mate is facilitated by at least one second feature on the control apparatus, the at least one second feature on the control apparatus being configured to mate directly with the at least one feature on the modular robotic apparatus body.

4. The body of claim 3, wherein the at least one second feature on the control apparatus and the at least one feature on the modular robotic apparatus body comprise complementary male and female connector components having at least one electrical interface associated therewith.

5. The body of claim 1, wherein the control apparatus comprises a processor and a plurality of actuators, the control apparatus being disposed in an enclosure configured to be selectively detachable from the modular robotic apparatus body.

6. The body of claim 5, wherein the one or more inputs are each configured to cause mechanical movement of one or more of the plurality of actuators.

7. The body of claim 1, wherein the control apparatus is further configured to receive the feedback from a manufacturer of the first and second movable elements.

8. The body of claim 7, wherein the feedback comprises sensory data generated by one or more sensors communicatively coupled to the modular robotic apparatus body.

9. The body of claim 1, wherein the control apparatus is configured to effectuate the movement of at least the first and the second movable elements based on a previous training trial performed with a second modular robotic apparatus body.

10. A modular robotic body, comprising:

an electrical interface configured to place the modular robotic body in communication with a controller;

one or more sensors configured to detect a state of the modular robotic body and a movement of the robotic body via a plurality of movable elements, the plurality of movable elements being configured to be displaced in a first and a second degree of freedom (DOF);

wherein;

the electrical interface is configured to send feedback to the controller based on the detected state or movement of the robotic body;

the electrical interface is configured to receive inputs from the controller, the controller being configured to determine the inputs based on the feedback; and

the modular robotic body is configured to move at least one of the plurality of movable elements in at least one of the first and a second DOF based on the received inputs.

11. The modular robotic body of claim 10, wherein the interface comprises an electromechanical interface.

12. The modular robotic body of claim 10, wherein the controller comprises an external modular controller apparatus configured to couple with the modular robotic body via the interface.

13. The modular robotic body of claim 10, wherein the interface is further configured to communicate an identification tag for the body to the controller.

14. The modular robotic body of claim 10, wherein the one or more sensors comprise one or more cameras, each of the one or more cameras being configured to receive sensory input.

15. The modular robotic body of claim 10, wherein:

the controller is configured to be trainable based on the feedback sent to the controller; and

the feedback to the controller is based on the teaching input.

16. The modular robotic body of claim 15, wherein:

when the state of the robotic body does not match a target state based on the detected state of the robotic body, a teaching input is provided to the robotic body; and

the teaching input is provided by a trainer.

17. The modular robotic body of claim 16, wherein the teaching input comprises a control signal.

18. The modular robotic body of claim 17, wherein the control signal comprises a signal manipulation of at least one of the plurality of movable elements.

19. The modular robotic body of claim 18, wherein the manipulation of the at least one of the plurality of movable elements comprises a placement of the robotic body in a target position.

20. The modular robotic body of claim 16, wherein the state of the robotic body comprises a position, an orientation and/or a velocity of at least one of the first and the second DOF.

21. A non-transitory computer-readable apparatus comprising a storage medium having a plurality of instructions stored thereon, the plurality of instructions being configured to cause a modular robotic body apparatus to, when executed by a processor:

operate the modular robotic body apparatus according to a sensory input determined according to a context received at a controller module, the modular robotic body apparatus being in communication with the controller module via an electrical interface;

determine a state of the modular robotic body apparatus during the operation of the modular robotic body apparatus; and

when the state of the modular robotic body apparatus does not match a predetermined target state;

receive a teaching input; and

update the learning process of the modular robotic body apparatus;

wherein the modular robotic body apparatus is configured to be mated to the controller module via the electrical interface, the electrical interface being configured to exchange at least electrical signals.

22. The non-transitory computer-readable apparatus of claim 21, wherein the interface is further configured to exchange electromagnetic signals.

23. The non-transitory computer-readable apparatus of claim 21, wherein:

the controller module is configured to operate at least the first and the second movable elements; and

the controller module is further configured to receive signals.