Interface for use with trainable modular robotic apparatus

• US 9,862,092 B2
• Filed: 12/03/2015
• Issued: 01/09/2018
• 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, Hatcher, Heathcliff, Polonichko, Vadim
• Primary Examiner(s): RINK, RYAN J
• Application Number:
  US14/958,825
• Publication Number:
  US 20160151912A1
• Time in Patent Office: 768 Days
• Field of Search: None
• CPC Class Codes: A63H 3/20 with parts moved due to movements of other parts, e.g. limbs
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G06N 20/00 Machine learning
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• 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 901/04 Manual lead through
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/50 Miscellaneous

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. An interface for use between components of a robotic apparatus, comprising:

a first interface portion comprising a shape; and

a second interface portion particularly adapted to interface only with other interface portions comprising the shape;

wherein the robotic apparatus comprises a controller apparatus and a robotic body, the robotic body being selected from a plurality of robotic bodies compatible with the interface and the controller apparatus;

wherein the first and second interface portions are configured to animate the robotic body via at least a mechanical force transferred over the first and second interface portions;

wherein the first and second interface portions are further configured to transmit first one or more electrical signals from the robotic body to the controller apparatus, the first one or more electrical signals comprising first feedback from the robotic body, the first feedback being configured to train the controller apparatus to control the at least one of the first interface and the second interface portions so as to accomplish a first physical task via the animation of the robotic body; and

wherein the first and second interface portions are further configured to transmit second one or more electrical signals from another one of the plurality of robotic bodies compatible with the interface and the controller apparatus, the second one or more electrical signals comprising second feedback from the other one of the plurality of robotic bodies, the second feedback being configured to train the controller apparatus to control the at least one of the first interface and the second interface portions to accomplish a second physical task via an animation of the other one of the plurality of robotic bodies.

2. The interface of claim 1, wherein the first interface portion comprises a substantially male feature, and the second interface portion comprises a substantially female feature, the substantially male and substantially female features being configured to rigidly but separably attach to one other.

3. The interface of claim 1, wherein:

the first and second interface portions are configured to interface with each other;

the interfaced first and second interface portions comprise at least one mechanical interface configured to transfer a force, and at least one electrical interface configured to transfer electrical signals or power across the interfaced first and second interface portions; and

the shape comprises a substantially male feature.

4. The interface of claim 1, wherein the interface is configured to electrically connect the robotic body with the controller apparatus, the controller apparatus being configured to control the at least one of the first interface portion and the second interface portion, wherein the controller apparatus comprises:

one or more sensory components configured to receive stimulus from one or more external entities; and

a processing module in signal communication with the one or more sensory components;

wherein the processing module is configured to perform one or more sensory processing functions.

5. The interface of claim 4, wherein the controller apparatus is in signal communication with the processing module;

and

wherein the controller apparatus is configured to utilize the received stimulus in order to infer a teaching signal.

6. The interface of claim 4, wherein the robotic body comprises a first one of the plurality of compatible robotic bodies apparatus each configured to be used with the interface.

7. The interface of claim 6, wherein the robotic body further comprises an identification apparatus, the identification apparatus configured to determine one or more characteristics of the first one of the plurality of compatible robotic bodies.

8. The interface of claim 7, wherein the one or more characteristics are selected from the group consisting of:

a body type for the robotic apparatus;

a kinematic configuration for the robotic body; and

a body model for the robotic body.

9. The interface of claim 7, wherein the one or more characteristics are communicated via one or more of the first interface portion and the second interface portion.

10. The interface of claim 7, further comprising a network interface in signal communication with one or more of the controller apparatus and the processing module;

wherein the network interface is further configured to receive one or more control processes in response to the determined one or more characteristics, the one or more control processes configured to effectuate control of the robotic body.

11. The interface of claim 4, wherein the first interface portion and the second interface portion collectively enable control of the robotic body in a plurality of controllable degrees of freedom.

12. The interface of claim 11, wherein at least one of the first interface portion and the second interface portion are configured to provide a rotational motion to at least a portion of the robotic body.

13. The interface of claim 11, wherein at least one of the first interface portion and the second interface portion are configured to provide a translational motion to at least a portion of the robotic body.

14. The interface of claim 11, wherein at least one of the first interface portion and the second interface portion are configured to provide a pivotal motion to at least a portion of the robotic body.

15. The interface of claim 4, wherein the received stimulus is further configured to control at least one of the at least first interface portion and the second interface portion.

16. The interface of claim 15, wherein the received stimulus comprises applied corrections to the robotic body by a user.

17. The interface of claim 16, further comprising a network interface in signal communication with one or more of the controller apparatus and the processing module;

wherein the network interface is further configured to transmit one or more control processes to an external device, the one or more control processes configured to effectuate control of another robotic body.

18. An interface for use between components of a robotic apparatus, comprising:

a first interface portion, the first interface portion configured to animate the robotic apparatus via at least a mechanical force transferred over the first interface portion; and

wherein the first interface portion is configured to communicate with a controller apparatus configured to operate the robotic apparatus, the controller apparatus comprising a plurality of computer-executable instructions, that when executed by a processor, are configured to implement a first adaptive learning process;

wherein;

the robotic apparatus comprises a first robotic body of a plurality of distinct robotic bodies that are compatible with the interface and the controller apparatus;

the first interface portion is further configured to transmit, during the implementation of the first adaptive learning process, training signals to perform a first operation of the robotic apparatus, the first operation comprising a first physical task via the animation of the first robotic body;

the controller apparatus is further configured to implement a second adaptive learning process; and

the first interface portion is further configured to transmit, during the implementation of the second adaptive learning process, training signals to perform a second operation of a second robotic body of the plurality of distinct robotic bodies that are compatible with the interface and the controller apparatus, the second operation comprising a second physical task via an animation of the second robotic body.

19. The interface of claim 18, wherein the adaptive learning process is characterized by a plurality of trials, and the adaptive learning process is configured to determine, during a trial of the plurality of trials, a first mechanical force transferred over the first interface portion.

20. The interface of claim 19, wherein during a subsequent trial of the plurality of trials, an adaptive mechanical force is transferred over the first interface portion, the adaptive mechanical force being closer to a target trajectory than the first mechanical force applied during the trial of the plurality of trials.