Methods and Systems for Selecting a Velocity Profile for Controlling a Robotic Device

• US 20170106536A1
• Filed: 12/23/2016
• Published: 04/20/2017
• Est. Priority Date: 08/19/2011
• Status: Active Application

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Desai, Munjal, Hickman, Ryan Michael, Lewis, Thor, Kohler, Damon
• Granted Patent: US 10,279,475 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/1651 acceleration, rate control
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/42175 Velocity, speed points, profile and corresponding acceleration, delta v
• CPC Class Codes: G05B 2219/43034 Form of profile, ramp, trapezoid, S-curve, exponential
• CPC Class Codes: G05B 2219/43036 Velocity profile with given starting and stopping speed vector
• CPC Class Codes: G05B 2219/43074 Control speed, acceleration so as to follow desired speed profile

Abstract

Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.

Claims

1. A method comprising:

receiving, by a device, characteristics of a customized velocity profile for a robotic device, wherein the device is configured to remotely control the robotic device;

storing the characteristics of the customized velocity profile in a memory of the device;

receiving, by the device, an input indicating a command for controlling the robotic device, wherein the command includes a change in velocity;

determining, by the device, a velocity command for the robotic device based on the customized velocity profile and the received input, wherein the determined velocity command includes information for implementing the change in velocity over time; and

controlling the robotic device based on the determined velocity command.

2. The method of claim 1, further comprising receiving a selection of the customized velocity profile as a selected velocity profile for the robotic device.

3. The method of claim 1, wherein receiving the characteristics of the customized velocity profile comprises receiving the characteristics of the customized velocity profile via a user interface of the device.

4. The method of claim 3, further comprising receiving, via the user interface, a request to input the customized velocity profile prior to receiving the characteristics of the customized velocity profile.

5. The method of claim 4, further comprising:

receiving, via the user interface, a request to modify a selected velocity profile for the robotic device; and

providing, by the device, an input module for receiving customized velocity profiles.

6. The method of claim 1, wherein receiving the input indicating the command for controlling the robotic device comprises receiving, via the user interface, the input indicating the command for controlling the robotic device.

7. The method of claim 1, wherein receiving the characteristics of the customized velocity profile comprises receiving the characteristics of the customized velocity profile while the device is controlling the robotic device.

8. The method of claim 1, wherein receiving the characteristics of the customized velocity profile comprises receiving from another device a signal that is indicative of the characteristics of the customized velocity profile.

9. The method of claim 1, wherein the characteristics of the customized velocity profile comprise an acceleration threshold, a deceleration threshold, or both.

10. The method of claim 1, wherein the characteristics of the customized velocity profile comprise a mathematical expression of velocity as a function of time.

11. The method of claim 1, wherein the characteristics of the customized velocity profile comprise a graphical expression of velocity as a function of time.

12. The method of claim 1, wherein controlling the robotic device based on the determined velocity command comprises:

generating a control signal indicating the determined velocity command; and

providing the control signal to the robotic device.

13. A device comprising:

at least one processor; and

memory including instructions executable by the at least one processor to cause the device to perform functions comprising;

receiving characteristics of a customized velocity profile for a robotic device, wherein the device is configured to remotely control the robotic device,

storing the characteristics of the customized velocity profile,

receiving an input indicating a command for controlling the robotic device, wherein the command includes a change in velocity,

determining a velocity command for the robotic device based on the customized velocity profile and the received input, wherein the determined velocity command includes information for implementing the change in velocity over time, and

controlling the robotic device based on the determined velocity command.

14. The device of claim 13, further comprising a network interface through which the device is configured to communicate with the robotic device.

15. The device of claim 13, wherein the functions further comprise receiving a selection of the customized velocity profile as a selected velocity profile for the robotic device.

16. The device of claim 13, wherein receiving the characteristics of the customized velocity profile comprises receiving the characteristics of the customized velocity profile via a user interface of the device.

17. The device of claim 16, wherein the functions further comprise receiving, via the user interface, a request to input the customized velocity profile prior to receiving the characteristics of the customized velocity profile.

18. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

receiving characteristics of a customized velocity profile for a robotic device, wherein the computing device is configured to remotely control the robotic device,

storing the characteristics of the customized velocity profile,

receiving an input indicating a command for controlling the robotic device, wherein the command includes a change in velocity,

determining a velocity command for the robotic device based on the customized velocity profile and the received input, wherein the determined velocity command includes information for implementing the change in velocity over time, and

controlling the robotic device based on the determined velocity command.

19. The non-transitory computer readable medium of claim 18, wherein the functions further comprise receiving a selection of the customized velocity profile as a selected velocity profile for the robotic device.

20. The non-transitory computer readable medium of claim 18, wherein receiving the characteristics of the customized velocity profile comprises receiving the characteristics of the customized velocity profile via a user interface of the computing device.