Adaptive robotic interface apparatus and methods

• US 9,821,457 B1
• Filed: 01/12/2015
• Issued: 11/21/2017
• Est. Priority Date: 05/31/2013
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Laurent, Patryk, Passot, Jean-Baptiste, Wildie, Mark, Izhikevich, Eugene M., Polonichko, Vadim
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/595,163
• Time in Patent Office: 1,044 Days
• Field of Search: 700264, 700250, 700253, 700257, 901 2, 901 50, 31856825
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/36136 User configurable graphics selected as function of kind of machining, display builder
• CPC Class Codes: G05B 2219/36137 Configuration of display device, operator panel
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G06N 3/049 Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/28 Joint

Abstract

Apparatus and methods for training of robotic devices. A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. User interface of the remote controller may be reconfigured based on the detected phenotype and/or operational changes.

Claims

1. A method of communicating an operational characteristic of a robot, the method comprising:

configuring the robot to detect the operational characteristic;

enabling communication by the robot of the operational characteristic, the robot comprising a motorized operational element;

communicating the operational characteristic to a user interface device configured to operate the robot, the communicating comprising causing a disposition of a plurality of discretely operable control elements associated with the motorized operational element on the user interface device;

configuring the robot to detect a modification of the operational characteristic, the modification producing a modified operational characteristic;

responsive to the detected modification of the operational characteristic, communicating the modified operational characteristic associated with the motorized operational element;

causing a modification of the plurality of discretely operable control elements consistent with the modified operational characteristic to cause a disposition of a second plurality of discretely operable control elements on the user interface device, the second plurality of discretely operable control elements comprising a plurality of modified discretely operable control elements configured to manipulate the robot according to at least the modified operational characteristic; and

performing at least one training session for the robot, the performing of the at least one training session for the robot comprising;

providing one or more training inputs via the second plurality of discretely operable control elements on the user interface device;

based on the one or more training inputs, causing the robot to follow at least a portion of a trajectory using the motorized operational element; and

determining a training performance measure based on a discrepancy between the trajectory and a target trajectory.

2. The method of claim 1, wherein:

the motorized operational element comprises at least one of a wheel or a joint, characterized by an axis of rotation;

the operational characteristic comprises an angle of the axis relative a reference direction; and

the disposition comprises a disposition of the plurality of discretely operable control elements associated with the motorized operational element at the angle relative the reference direction on the user interface device.

3. The method of claim 2, wherein:

the modification of the operational characteristic comprises a change of the angle by an adjustment amount; and

the modification of the plurality of discretely operable control elements consistent with the modified operational characteristic comprises an adjustment of the disposed plurality of discretely operable control elements by the adjustment amount.

4. The method of claim 2, wherein:

the robot comprises a humanoid robot comprising a first joint configured to be rotated with respect to a first axis and a second joint configured to be rotated with respect to second axis, the first and the second axes being disposed at a non-zero angle relative to one another; and

the disposed plurality of discretely operable control elements on the user interface device comprises a first control element and a second control element adapted to control the first joint and the second joint, respectively, at the angle with respect to one another.

5. The method of claim 4, wherein the humanoid robot comprises a robotic apparatus with its body shape built to resemble that of the human body.

6. A system configured for communicating an operational characteristic of a robot, the system comprising:

one or more physical processor apparatus;

a non-transitory machine-readable storage medium comprising instructions configured to, when executed by the one or more physical processor apparatus;

configure the robot to detect the operational characteristic, the operational characteristic comprising at least one phenotype of the robot; and

enable communication by the robot of the at least one phenotype of the robot;

wherein the communication of the at least one phenotype of the robot is configured to cause adaptation of a user interface device configured to operate the robot;

wherein the adapted user interface device comprises a set of individually controllable elements that corresponds to the communicated at least one phenotype of the robot;

wherein each of the set of individually controllable control elements is configured to operate, according to a robotic configuration associated with the at least one phenotype of the robot, one or more corresponding portions of the robot in a degree of freedom; and

wherein the instructions are further configured to, when executed by the one or more physical processor apparatus;

provide a teaching input to the robot via one or more of the set of individually controllable control elements of the user interface device, the teaching input being configured to cause the robot to navigate a portion of a trajectory using the one or more corresponding portions of the robot in the degree of freedom;

based on a performance measure associated with the trajectory, cause the robot to navigate the trajectory.

7. The system of claim 6, wherein:

the robot comprises an operational element comprising at least one of a wheel or a joint, characterized by an axis of rotation;

the operational characteristic further comprises an angle of the axis of rotation relative a reference direction; and

the adaptation of the user interface device comprises disposing a control element associated with the operational element at the angle relative the reference direction on the user interface device.

8. The system of claim 7, wherein the instructions are further configured, when executed by the one or more physical processor apparatus, to:

configure the robot to detect a modification of the operational characteristic; and

responsive to the detected modification of the operational characteristic, communicate the modified operational characteristic associated with the operational element;

wherein the communication of the modified operational characteristic is configured to cause modification of the disposed control element consistent with the modified operational characteristic.

9. The system of claim 8, wherein:

the modification of the operational characteristic comprises a change of the angle by an adjustment amount; and

the modification of the disposed control element consistent with the modified operational characteristic comprises an adjustment of the disposed control element by the adjustment amount.

10. The system of claim 8, wherein:

the robot comprises a humanoid robot comprising a first joint configured to be rotated with respect to a first axis and a second joint configured to be rotated with respect to a second axis, the first and the second axes being disposed at a non-zero angle relative to one another; and

the adaptation of the user interface device is configured to dispose a first control element and a second control element adapted to control the first joint and the second joint, respectively, at the angle with respect to one another.

11. The system of claim 10, wherein the humanoid robot comprises a robotic apparatus with its body shape built to resemble that of the human body.

12. A non-transitory computer-readable storage medium having machine-readable instructions embodied thereon, the machine-readable instructions being executable by one or more processor apparatus to perform a method of communicating an operational characteristic of a robot, the method comprising:

configuring the robot to detect the operational characteristic, the operational characteristic comprising a phenotype of the robot;

enabling communication by the robot of the phenotype of the robot;

configuring the robot to detect a modification of the phenotype of the robot, the modification being configured to produce a modified phenotype of the robot; and

responsive to the detected modification of the phenotype of the robot, communicating the modified phenotype of the robot associated with an operational element;

wherein the communication of the modified phenotype of the robot is configured to cause an adaptation of a user interface device configured to operate the robot;

wherein the communication of the modified phenotype of the robot is configured to cause a modification of a control element consistent with the modified phenotype, the control element comprising a plurality of discrete user-adjustable interface elements disposed on the user interface device; and

wherein the user interface device is configured to train the robot to attain a training goal, the training goal comprising navigation along a target trajectory, the training of the robot comprising providing a training input to the robot via the plurality of discrete user-adjustable interface elements disposed on the user interface device, the training input being configured to cause the robot to operate the operational element, the training goal being attained based on a comparison of the target trajectory with an actual trajectory navigated by virtue of the operational element.

13. The non-transitory computer-readable storage medium of claim 12, wherein:

the robot comprises the operational element, the operational element comprising at least one of a wheel or a joint, characterized by axis of rotation;

the operational characteristic comprises an angle of the axis relative a reference direction; and

the adaptation comprises disposing the control element associated with the operational element at the angle relative the reference direction on the user interface device.

14. The non-transitory computer-readable storage medium of claim 13, wherein:

the modification of the operational characteristic comprises a change of the angle by an adjustment amount; and

the modification of the control element consistent with the modified operational characteristic comprises adjustment of the disposed control element by the adjustment amount.

15. The non-transitory computer-readable storage medium of claim 13, wherein:

the robot comprises a humanoid robot comprising a first joint configured to be rotated with respect to a first axis and a second joint configured to be rotated with respect to second axis, the first and the second axes being disposed at a non-zero angle relative to one another; and

the adaptation of the user interface device is configured to dispose a first control element and a second control element adapted to control the first joint and the second joint, respectively, at the angle with respect to one another.