Apparatus and methods for haptic training of robots
First Claim
1. A processor-implemented method of operating a robot, the method being performed by one or more processors configured to execute computer program instructions, the method comprising:
- during a first trial, operating, using one or more processors, 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 with a robotic trainer with a physical contact with the robot;
wherein;
the performance of the task is configured based on a learning process configured to determine a first control signal at the first trial;
the adjusting of the actual trajectory comprises modifying the learning process so as to determine a second control signal; and
during a second trial subsequent to the first trial, the first and the second control signals cooperate to transition the actual trajectory towards the target trajectory.
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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.
242 Citations
26 Claims
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1. A processor-implemented method of operating a robot, the method being performed by one or more processors configured to execute computer program instructions, the method comprising:
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during a first trial, operating, using one or more processors, 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 with a robotic trainer with a physical contact with the robot; wherein; the performance of the task is configured based on a learning process configured to determine a first control signal at the first trial; the adjusting of the actual trajectory comprises modifying the learning process so as to determine a second control signal; and during a second trial subsequent to the first trial, the first and the second control signals cooperate to transition the actual trajectory towards the target trajectory. - View Dependent Claims (2, 3, 4, 5)
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6. 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; wherein; the current state is configured based on the first control signal and a state modification, wherein the state modification is applied with a physical contact to the robotic apparatus. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. An adaptive robot apparatus, comprising:
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a manipulator comprising first and second joints characterized by first and second joint angles, respectively; a sensor module configured to convey information related to one or more of an environment of the adaptive robot apparatus and the manipulator; and an adaptive controller operable in accordance with a learning process configured to; guide the manipulator 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; and update the learning process based on the discrepancy; wherein; the discrepancy is configured based on an intervention by a user, the intervention by the user comprising modification of the first and the second joint angles with a physical contact with the manipulator; and the updated learning process comprises determination of a correction signal, the correction signal configured to guide the manipulator to the current state based on an occurrence of the information. - View Dependent Claims (25, 26)
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Specification