Mobile human interface robot

• US 8,918,213 B2
• Filed: 02/22/2011
• Issued: 12/23/2014
• Est. Priority Date: 05/20/2010
• Status: Active Grant

• Current Assignee: Ava Robotics, Inc.
• Original Assignee: iRobot Corporation
• Inventors: Rosenstein, Michael, Won, Chikyung, Lansberry, Geoffrey B., Shamlian, Steven V., Halloran, Michael, Chiappetta, Mark, Allen, Thomas P.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US13/032,370
• Publication Number:
  US 20120185095A1
• Time in Patent Office: 1,400 Days
• Field of Search: 700/245, 700/258, 700/259, 700/264, 901/1, 901/8, 901/46, 901/47
• US Class Current: 700/258
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

Claims

1. A mobile human interface robot comprising:

a base defining a vertical center axis and a forward drive direction;

a holonomic drive system supported by the base;

a controller in communication with the holonomic drive system;

a torso supported above the base;

a touch sensor system in communication with the controller, the touch sensor system responsive to human contact;

a neck disposed on the torso; and

a head supported by the neck, the neck adapted to pan and tilt the head with respect to the torso;

wherein the controller;

issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system;

allows user articulation of the head in response to the received touch signal from the touch sensor system indicating head touching and maintains a pose of the head after completion of head touching; and

articulates the head to face a location of contact on the robot in response to the received touch signal from the touch sensor system when a touching duration is less than a threshold period of time.

2. The mobile human interface robot of claim 1, wherein the touch sensor system is disposed at least in part on the torso.

3. The mobile human interface robot of claim 2, further comprising an actuatable extendable leg disposed on the base and supporting the torso, the controller altering a height of the leg to alter a height of the torso in response to the received touch signal from the touch sensor system.

4. The mobile human interface robot of claim 3, wherein the controller instructs the leg to provide active assistance to a user height alteration of the torso in response to the received touch signal from the touch sensor system, the active assistance reducing a user movement resistance of the torso.

5. The mobile human interface robot of claim 1, wherein the drive commands comprise reduced power assisted drive commands that propel the robot with assistance from a user in contact with the robot.

6. The mobile human interface robot of claim 1, further comprising a manipulation sensor disposed on at least one of the neck and the head for detecting user manipulation of the head.

7. The mobile human interface robot of claim 1, wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.

8. The mobile human interface robot of claim 1, wherein the touch sensor system comprises contact sensors disposed on top, bottom, right, left, front, and back surfaces of the torso.

9. The mobile human interface robot of claim 1, wherein the touch sensor system comprises at least one touch-responsive actuatable input positioned between 3 feet and 5 feet from a supporting surface of the robot.

10. The mobile human interface robot of claim 1, wherein the controller increases a movement resistance of at least a portion of the robot in a direction opposite to a received touch.

11. The mobile human interface robot of claim 1, wherein the controller instructs the drive system to stop driving in response to the received touch signal from the touch sensor system.

12. A method of operating a mobile human interface robot, the method comprising:

receiving a touch signal from a touch sensor system of the robot in response to a user touching the robot;

for a touching duration greater than a threshold period of time, driving the robot in a direction based on a location of contact on the robot;

for a touching duration less than the threshold period of time, articulating an interface of the robot to at least substantially face the location of contact on the robot; and

for a touching duration less than the threshold period of time, issuing a zero velocity drive command.

13. The method of claim 12, further comprising issuing a drive command to a holonomic drive system to move the robot in a direction opposite of the received touching, for a touching duration greater than the threshold period of time.

14. The method of claim 12, wherein the threshold period of time comprises 0.25 seconds.

15. The method of claim 12, further comprising at least one of panning and tilting a head of the robot with respect to a connected torso of the robot to at least substantially face the head toward the location of contact on the robot, for a touching duration less than the threshold period of time.

16. The method of claim 12, wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.