Patent Grant
9821457
A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all copyright rights whatsoever.
Technological Field
The present disclosure relates to adaptive control and training of robotic devices.
Background
Robotic devices are used in a variety of applications, such as manufacturing, medical, safety, military, exploration, and/or other applications. Some existing robotic devices (e.g., manufacturing assembly and/or packaging) may be programmed in order to perform desired functionality. Some robotic devices (e.g., surgical robots) may be remotely controlled by humans, while some robots (e.g., iRobot Roomba®) may learn to operate via exploration.
Robotic devices may comprise hardware components that may enable the robot to perform actions in 1, 2, and/or 3-dimensional space. Some robotic devices may comprise one or more components configured to operate in more than one spatial dimension (e.g., a turret and/or a crane arm configured to rotate around vertical and/or horizontal axes). Some robotic devices may be configured to operate in more than one spatial dimension orientation so that their components may change their operational axis (e.g., with respect to vertical direction) based on the orientation of the robot platform. Such modifications may be effectuated by an end user of the robot.
One aspect of the disclosure relates to a non-transitory computer readable medium having instructions embodied thereon. The instructions are executable to perform a method for controlling a robotic platform. The method may comprise establishing a data connection to a robotic device; receiving information related to a phenotype of the robotic device; and issuing a command to a user interface apparatus, the user interface apparatus executing an action based on the command, the command indicative of at least one configuration associated with the information. The user interface apparatus may comprise a display apparatus comprising at least one control configured to relay user input to the robotic device. Executing the action may cause the user interface apparatus to alter a representation of the at least one control consistent with the information.
In some implementations, the command may be configured to be issued automatically absent an explicit request by the user.
In some implementations, the phenotype may be characterized by one or both of (i) a hardware configuration of the robotic device or (ii) an operational configuration of the robotic device. The information may be based on a statistical parameter related to a plurality of actions executed by the robot responsive to a plurality of user commands relayed by the control. Individual ones of the plurality of actions may be configured based on at least one of the hardware configuration the operational configuration of the robotic device.
In some implementations, the robotic device may comprise at least one actuator characterized by an axis of motion. The information may be configured to relate an orientation of the axis of motion with respect to a reference orientation.
In some implementations, the reference orientation may comprise a geographical coordinate. The information may comprise a computer design file of the robotic device. The design file may comprise a description of the actuator and the axis of motion.
In some implementations, the reference orientation may comprise an axis of the robotic device. The display apparatus may be characterized by a default orientation. Altering the representation of the at least one control consistent with the information may comprise: determining an angle between the reference orientation and the axis of motion; and positioning the at least one control on the display apparatus at the angle relative the default orientation.
In some implementations, the robotic device may comprise first and second actuators configured to displace at least a portion of the robotic device in a first direction and a second direction, respectively. The information may comprise parameters of the first direction and the second direction. The at least one control may comprise a first linear motion control and a second linear motion control associated with the first actuator and the second actuator, respectively. The act of altering the representation of the at least one control consistent with the information may comprise: positioning the first linear motion control at the first direction; and positioning the second linear motion control at the second direction, the second direction being perpendicular to the first direction.
In some implementations, the robotic device may be characterized as having a default orientation. The first direction and the second direction may comprise a direction of longitudinal and transverse motions relative to the default orientation.
In some implementations, the robotic device may be characterized as having a default orientation. The robotic device may comprise a first actuator configured to rotate at least a portion of the robotic device around first axis configured vertically with respect to the default orientation. A second actuator may be configured to move the robotic device in a longitudinal direction relative the default orientation. The act of altering the representation of the at least one control consistent with the information may comprise: positioning the first linear motion control along the first direction; and positioning the second linear motion control along the second direction, the second direction being perpendicular to the first direction.
In some implementations, the first control may comprise a knob having an axis of rotation configured such that mutual orientation of the axis of rotation and the default direction matches mutual orientation of the first axis and the default orientation of the robotic device.
In some implementations, the at least one control may comprise: a first slider configured to relate forward and reverse motion commands; and a second slider configured to relate left and right turn commands, and reverse motion commands. Main axes of the first and the second sliders may be disposed perpendicular with one another.
In some implementations, the phenotype may be characterized by one or both of (i) hardware configuration of the robotic device or (ii) operational configuration of the robotic device. The information may be configured to relate modification of one or both of the hardware configuration or the operational configuration of the robotic device.
In some implementations, the hardware configuration of the robotic device may comprise one or more of a number of motor actuators, a rotation axis orientation for individual actuators, or a number of actuators configured to be activated simultaneously.
In some implementations, the operational configuration of the robotic device may comprise one or more of a number of motor actuators, a rotation axis orientation for individual actuators, or a number of actuators configured to be activated simultaneously.
Another aspect of the disclosure relates to a remote control apparatus of a robot. The apparatus may comprise a processor, at least one remote communications interface, and a user interface. The at least one remote communications interface may be configured to: establish an operative link to the robot; and communicate to the processor one or more configuration indicators associated with a component of the robot. The user interface may be configured to: based on a receipt of the configuration indicator, display one or more human perceptible control elements consistent with a characteristic of the component.
In some implementations, the user interface may comprise a display apparatus. The component may comprise one or both of a wheel or a joint, characterized by axis of rotation. The characteristic of the component may be configured to describe placement of the axis with respect to a reference direction. The displaying of one or more human perceptible control elements consistent with the characteristic may comprise disposing the control element on the display apparatus at an orientation matching the placement of the axis with respect to the reference.
In some implementations, the robot may comprise a sensor configured to determine the placement of the axis with respect to the reference. The robot may detect and communicate an operation configuration of one of its elements.
In some implementations, the user interface may comprise one or more of touch-sensing interface, a contactless motion sensing interface, or a radio frequency wireless interface.
Yet another aspect of the disclosure relates to a method of communicating a robot operational characteristic. The method may comprise: configuring the robot to detect the operational characteristic; and enabling communication by the robot of the operational characteristic. The communication of the operational characteristic may be configured to cause adaptation of the user interface device configured to operate the robot.
In some implementations, the robot may comprise an operational element comprising at least one of a wheel or a joint, characterized by an axis of rotation. The operational characteristic may comprise an angle of the axis relative a reference direction. The adaptation may comprise disposing a control element associated with the operational element at the angle and/or displacement relative to the reference on the user interface device.
In some implementations, the method may comprise: configuring the robot to detect a modification of the operational characteristic; and, responsive to detected modification of the operational characteristic, communicating the modified operational characteristic associated with the operational element. The communication of the modified operational characteristic may be configured to cause modification of the control element consistent with the modified operational characteristic.
In some implementations, the modification of the operational characteristic may comprise a change of the angle and/or displacement by an adjustment amount. The modification of the control element consistent with the modified operational characteristic may comprise adjustment of the disposed control element by the adjustment amount.
In some implementations, the modification of the operational characteristic may comprise a change of the angle and/or the displacement by an adjustment amount. The modification of the control element consistent with the modified operational characteristic may comprise adjustment of the disposed control element by the adjustment amount.
In some implementations, the robot may comprise 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 may be disposed at a non-zero angle relative to one another. The adaptation of the user interface device may be 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.
In some implementations, the humanoid robot may comprise a robotic apparatus with its body shape built to resemble that of the human body.
In another aspect of the present disclosure, a system is disclosed. In one embodiment, the system is configured for communicating an operational characteristic of a robot, and the system includes: 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.
These and other features, and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the disclosure. As used in the specification and in the claims, the singular form of “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise.
All Figures disclosed herein are © Copyright 2015 Brain Corporation. All rights reserved.
Implementations of the present technology will now be described in detail with reference to the drawings, which are provided as illustrative examples so as to enable those skilled in the art to practice the technology. Notably, the figures and examples below are not meant to limit the scope of the present disclosure to a single implementation, but other implementations are possible by way of interchange of or combination with some or all of the described or illustrated elements. Wherever convenient, the same reference numbers will be used throughout the drawings to refer to same or like parts.
Where certain elements of these implementations can be partially or fully implemented using known components, only those portions of such known components that are necessary for an understanding of the present technology will be described, and detailed descriptions of other portions of such known components will be omitted so as not to obscure the disclosure.
In the present specification, an implementation showing a singular component should not be considered limiting; rather, the disclosure is intended to encompass other implementations including a plurality of the same component, and vice-versa, unless explicitly stated otherwise herein.
Further, the present disclosure encompasses present and future known equivalents to the components referred to herein by way of illustration.
As used herein, the term “bus” is meant generally to denote all types of interconnection or communication architecture that is used to access the synaptic and neuron memory. The “bus” may be optical, wireless, infrared, and/or another type of communication medium. The exact topology of the bus could be for example standard “bus”, hierarchical bus, network-on-chip, address-event-representation (AER) connection, and/or other type of communication topology used for accessing, e.g., different memories in pulse-based system.
As used herein, the terms “computer”, “computing device”, and “computerized device” may include one or more of personal computers (PCs) and/or minicomputers (e.g., desktop, laptop, and/or other PCs), mainframe computers, workstations, servers, personal digital assistants (PDAs), handheld computers, embedded computers, programmable logic devices, personal communicators, tablet computers, portable navigation aids, J2ME equipped devices, cellular telephones, smart phones, personal integrated communication and/or entertainment devices, and/or any other device capable of executing a set of instructions and processing an incoming data signal.
As used herein, the term “computer program” or “software” may include any sequence of human and/or machine cognizable steps which perform a function. Such program may be rendered in a programming language and/or environment including one or more of C/C++, C#, Fortran, COBOL, MATLAB™, PASCAL, Python, assembly language, markup languages (e.g., HTML, SGML, XML, VoXML), object-oriented environments (e.g., Common Object Request Broker Architecture (CORBA)), Java™ (e.g., J2ME, Java Beans), Binary Runtime Environment (e.g., BREW), and/or other programming languages and/or environments.
As used herein, the terms “connection”, “link”, “transmission channel”, “delay line”, “wireless” may include a causal link between any two or more entities (whether physical or logical/virtual), which may enable information exchange between the entities.
As used herein, the term “memory” may include an integrated circuit and/or other storage device adapted for storing digital data. By way of non-limiting example, memory may include one or more of ROM, PROM, EEPROM, DRAM, Mobile DRAM, SDRAM, DDR/2 SDRAM, EDO/FPMS, RLDRAM, SRAM, “flash” memory (e.g., NAND/NOR), memristor memory, PSRAM, and/or other types of memory.
As used herein, the terms “integrated circuit”, “chip”, and “IC” are meant to refer to an electronic circuit manufactured by the patterned diffusion of trace elements into the surface of a thin substrate of semiconductor material. By way of non-limiting example, integrated circuits may include field programmable gate arrays (e.g., FPGAs), a programmable logic device (PLD), reconfigurable computer fabrics (RCFs), application-specific integrated circuits (ASICs), and/or other types of integrated circuits.
As used herein, the terms “microprocessor” and “digital processor” are meant generally to include digital processing devices. By way of non-limiting example, digital processing devices may include one or more of digital signal processors (DSPs), reduced instruction set computers (RISC), general-purpose (CISC) processors, microprocessors, gate arrays (e.g., field programmable gate arrays (FPGAs)), PLDs, reconfigurable computer fabrics (RCFs), array processors, secure microprocessors, application-specific integrated circuits (ASICs), and/or other digital processing devices. Such digital processors may be contained on a single unitary IC die, or distributed across multiple components.
As used herein, the term “network interface” refers to any signal, data, and/or software interface with a component, network, and/or process. By way of non-limiting example, a network interface may include one or more of FireWire (e.g., FW400, FW800, etc.), USB (e.g., USB2), Ethernet (e.g., 10/100, 10/100/1000 (Gigabit Ethernet), 10-Gig-E, etc.), MoCA, Coaxsys (e.g., TVnet™), radio frequency tuner (e.g., in-band or OOB, cable modem, etc.), Wi-Fi (802.11), WiMAX (802.16), PAN (e.g., 802.15), cellular (e.g., 3G, LTE/LTE-A/TD-LTE, GSM, etc.), IrDA families, and/or other network interfaces.
As used herein, the term “Wi-Fi” includes one or more of IEEE-Std. 802.11, variants of IEEE-Std. 802.11, standards related to IEEE-Std. 802.11 (e.g., 802.11 a/b/g/n/s/v), and/or other wireless standards.
As used herein, the term “wireless” means any wireless signal, data, communication, and/or other wireless interface. By way of non-limiting example, a wireless interface may include one or more of Wi-Fi, Bluetooth, 3G (3GPP/3GPP2), HSDPA/HSUPA, TDMA, CDMA (e.g., IS-95A, WCDMA, etc.), FHSS, DSSS, GSM, PAN/802.15, WiMAX (802.16), 802.20, narrowband/FDMA, OFDM, PCS/DCS, LTE/LTE-A/TD-LTE, analog cellular, CDPD, satellite systems, millimeter wave or microwave systems, acoustic, infrared (i.e., IrDA), and/or other wireless interfaces.
The controller 102 may be operable in accordance with a learning process (e.g., reinforcement learning and/or supervised learning). In one or more implementations, the controller 102 may optimize performance (e.g., performance of the system 100 of
Learning process of adaptive controller (e.g., 102 of
Individual spiking neurons may be characterized by internal state. The internal state may, for example, comprise a membrane voltage of the neuron, conductance of the membrane, and/or other parameters. The neuron process may be characterized by one or more learning parameters, which may comprise input connection efficacy, output connection efficacy, training input connection efficacy, response generating (firing) threshold, resting potential of the neuron, and/or other parameters. In one or more implementations, some learning parameters may comprise probabilities of signal transmission between the units (e.g., neurons) of the network.
In some implementations, the training input (e.g., 104 in
During operation (e.g., subsequent to learning), data (e.g., spike events) arriving to neurons of the network may cause changes in the neuron state (e.g., increase neuron membrane potential and/or other parameters). Changes in the neuron state may cause the neuron to generate a response (e.g., output a spike). Teaching data may be absent during operation, while input data are required for the neuron to generate output.
In one or more implementations, such as object recognition and/or obstacle avoidance, the input 106 may comprise a stream of pixel values associated with one or more digital images. In one or more implementations (e.g., video, radar, sonography, x-ray, magnetic resonance imaging, and/or other types of sensing), the input may comprise electromagnetic waves (e.g., visible light, IR, UV, and/or other types of electromagnetic waves) entering an imaging sensor array. In some implementations, the imaging sensor array may comprise one or more of RGCs, a charge coupled device (CCD), an active-pixel sensor (APS), and/or other sensors. The input signal may comprise a sequence of images and/or image frames. The sequence of images and/or image frame may be received from a CCD camera via a receiver apparatus and/or downloaded from a file. The image may comprise a two-dimensional matrix of RGB values refreshed at a 25 Hz frame rate. It will be appreciated by those skilled in the arts that the above image parameters are merely exemplary, and many other image representations (e.g., bitmap, CMYK, HSV, HSL, grayscale, and/or other representations) and/or frame rates are equally useful with the present technology. Pixels and/or groups of pixels associated with objects and/or features in the input frames may be encoded using, for example, latency encoding described in U.S. patent application Ser. No. 12/869,583, filed Aug. 26, 2010 and entitled “INVARIANT PULSE LATENCY CODING SYSTEMS AND METHODS”; U.S. Pat. No. 8,315,305, issued Nov. 20, 2012, entitled “SYSTEMS AND METHODS FOR INVARIANT PULSE LATENCY CODING”; U.S. patent application Ser. No. 13/152,084, filed Jun. 2, 2011, entitled “APPARATUS AND METHODS FOR PULSE-CODE INVARIANT OBJECT RECOGNITION”; and/or latency encoding comprising a temporal winner take all mechanism described U.S. patent application Ser. No. 13/757,607, filed Feb. 1, 2013 and entitled “TEMPORAL WINNER TAKES ALL SPIKING NEURON NETWORK SENSORY PROCESSING APPARATUS AND METHODS”, each of the foregoing being incorporated herein by reference in its entirety.
In one or more implementations, object recognition and/or classification may be implemented using spiking neuron classifier comprising conditionally independent subsets as described in co-owned U.S. patent application Ser. No. 13/756,372 filed Jan. 31, 2013, and entitled “SPIKING NEURON CLASSIFIER APPARATUS AND METHODS USING CONDITIONALLY INDEPENDENT SUBSETS” and/or co-owned U.S. patent application Ser. No. 13/756,382 filed Jan. 31, 2013, and entitled “REDUCED LATENCY SPIKING NEURON CLASSIFIER APPARATUS AND METHODS”, each of the foregoing being incorporated herein by reference in its entirety.
In one or more implementations, encoding may comprise adaptive adjustment of neuron parameters, such neuron excitability described in U.S. patent application Ser. No. 13/623,820 entitled “APPARATUS AND METHODS FOR ENCODING OF SENSORY DATA USING ARTIFICIAL SPIKING NEURONS”, filed Sep. 20, 2012, the foregoing being incorporated herein by reference in its entirety.
In some implementations, analog inputs may be converted into spikes using, for example, kernel expansion techniques described in co-owned U.S. patent application Ser. No. 13/623,842 filed Sep. 20, 2012, and entitled “SPIKING NEURON NETWORK ADAPTIVE CONTROL APPARATUS AND METHODS”, the foregoing being incorporated herein by reference in its entirety. In one or more implementations, analog and/or spiking inputs may be processed by mixed signal spiking neurons, such as co-owned U.S. patent application Ser. No. 13/313,826 entitled “APPARATUS AND METHODS FOR GATING ANALOG AND SPIKING SIGNALS IN ARTIFICIAL NEURAL NETWORKS”, filed Dec. 7, 2011, and/or co-owned U.S. patent application Ser. No. 13/761,090 entitled “APPARATUS AND METHODS FOR GATING ANALOG AND SPIKING SIGNALS IN ARTIFICIAL NEURAL NETWORKS”, filed Feb. 6, 2013, each of the foregoing being incorporated herein by reference in its entirety.
The rules may be configured to implement synaptic plasticity in the network. In some implementations, the plastic rules may comprise one or more spike-timing dependent plasticity, such as rule comprising feedback described in co-owned and co-pending U.S. patent application Ser. No. 13/465,903 entitled “SENSORY INPUT PROCESSING APPARATUS IN A SPIKING NEURAL NETWORK”, filed May 7, 2012; rules configured to modify of feed forward plasticity due to activity of neighboring neurons, described in co-owned U.S. patent application Ser. No. 13/488,106, entitled “SPIKING NEURON NETWORK APPARATUS AND METHODS”, filed Jun. 4, 2012; conditional plasticity rules described in U.S. patent application Ser. No. 13/541,531, entitled “CONDITIONAL PLASTICITY SPIKING NEURON NETWORK APPARATUS AND METHODS”, filed Jul. 3, 2012; plasticity configured to stabilize neuron response rate as described in U.S. patent application Ser. No. 13/691,554, entitled “RATE STABILIZATION THROUGH PLASTICITY IN SPIKING NEURON NETWORK”, filed Nov. 30, 2012; activity-based plasticity rules described in co-owned U.S. patent application Ser. No. 13/660,967, entitled “APPARATUS AND METHODS FOR ACTIVITY-BASED PLASTICITY IN A SPIKING NEURON NETWORK”, filed Oct. 25, 2012, U.S. patent application Ser. No. 13/660,945, entitled “MODULATED PLASTICITY APPARATUS AND METHODS FOR SPIKING NEURON NETWORKS”, filed Oct. 25, 2012; and U.S. patent application Ser. No. 13/774,934, entitled “APPARATUS AND METHODS FOR RATE-MODULATED PLASTICITY IN A SPIKING NEURON NETWORK”, filed Feb. 22, 2013; multi-modal rules described in U.S. patent application Ser. No. 13/763,005, entitled “SPIKING NETWORK APPARATUS AND METHOD WITH BIMODAL SPIKE-TIMING DEPENDENT PLASTICITY”, filed Feb. 8, 2013, each of the foregoing being incorporated herein by reference in its entirety.
In one or more implementations, neuron operation may be configured based on one or more inhibitory connections providing input configured to delay and/or depress response generation by the neuron, as described in U.S. patent application Ser. No. 13/660,923, entitled “ADAPTIVE PLASTICITY APPARATUS AND METHODS FOR SPIKING NEURON NETWORK”, filed Oct. 25, 2012, the foregoing being incorporated herein by reference in its entirety
Connection efficacy updates may be effectuated using a variety of applicable methodologies such as, for example, event based updates described in detail in co-owned U.S. patent application Ser. No. 13/239,255 filed Sep. 21, 2011, entitled “APPARATUS AND METHODS FOR SYNAPTIC UPDATE IN A PULSE-CODED NETWORK”; U.S. patent application Ser. No. 13/588,774, entitled “APPARATUS AND METHODS FOR IMPLEMENTING EVENT-BASED UPDATES IN SPIKING NEURON NETWORKS”, filed Aug. 17, 2012; and U.S. patent application Ser. No. 13/560,891 entitled “APPARATUS AND METHODS FOR EFFICIENT UPDATES IN SPIKING NEURON NETWORK” filed Jul. 27, 2012, each of the foregoing being incorporated herein by reference in its entirety.
A neuron process may comprise one or more learning rules configured to adjust neuron state and/or generate neuron output in accordance with neuron inputs.
In some implementations, the one or more learning rules may comprise state dependent learning rules described, for example, in co-owned U.S. patent application Ser. No. 13/560,902, entitled “APPARATUS AND METHODS FOR GENERALIZED STATE-DEPENDENT LEARNING IN SPIKING NEURON NETWORKS”, filed Jul. 27, 2012 and/or co-owned U.S. patent application Ser. No. 13/722,769 filed Dec. 20, 2012, and entitled “APPARATUS AND METHODS FOR STATE-DEPENDENT LEARNING IN SPIKING NEURON NETWORKS”, each of the foregoing being incorporated herein by reference in its entirety.
In one or more implementations, the one or more learning rules may be configured to comprise one or more reinforcement learning, unsupervised learning, and/or supervised learning as described in co-owned U.S. patent application Ser. No. 13/487,499 entitled “STOCHASTIC APPARATUS AND METHODS FOR IMPLEMENTING GENERALIZED LEARNING RULES” and filed Jun. 4, 2012, incorporated supra.
In one or more implementations, the one or more leaning rules may be configured in accordance with focused exploration rules such as described, for example, in U.S. patent application Ser. No. 13/489,280 entitled “APPARATUS AND METHODS FOR REINFORCEMENT LEARNING IN ARTIFICIAL NEURAL NETWORKS”, filed Jun. 5, 2012, the foregoing being incorporated herein by reference in its entirety.
Adaptive controller (e.g., the controller apparatus 102 of
Robotic devices (e.g., plant 110 of
It may be beneficial to train and/or operate robotic devices using a remote control device. One implementation of a computerized controller apparatus configured for remote control a robotic devices is illustrated in
The display 262 may comprise any of a liquid crystal display (LCD), light emitting diode (LED), MEMS micro-shutter, interferometric modulator displays (IMOD), carbon nanotube-based displays, digital light projection, and/or other applicable hardware display implementations.
The device 260 may comprise a mechanical platform (e.g., enclosure and/or frame), platform sensor 268, electrical components 272, power components 274, network interface 276, and/or other components. In some implementations, the platform sensor 268 may comprise a position sensor and/or an orientation sensor configured to determine location and/or orientation of the remote control 26 relative a reference (e.g., geographical reference and/or robot frame reference). Consistent with the present disclosure, the various components of the device may be remotely disposed from one another, and/or aggregated. For example, processing (e.g., user input recognition) may be performed by a remote server apparatus, and the processed data (e.g., user commands) may be communicated to the remote controller via the network interface 276.
The electrical components 272 may include virtually any electrical device for interaction and manipulation of the outside world. This may include, without limitation, light/radiation generating devices (e.g. LEDs, IR sources, light bulbs, and/or other devices), audio devices, monitors/displays, switches, heaters, coolers, ultrasound transducers, lasers, and/or other electrical devices. These devices may enable a wide array of applications for the robotic apparatus in industrial, hobbyist, building management, medical device, military/intelligence, and/or other fields (as discussed below).
The network interface may include one or more connections to external computerized devices to allow for, inter alia, management of the robotic device. The connections may include any of the wireless and/or wire-line interfaces discussed above. The connections may include customized and/or proprietary connections for specific applications.
The power system 274 may be tailored to the needs of the application of the device. For example, for some implementations, a wireless power solution (e.g. battery, solar cell, inductive (contactless) power source, rectification, and/or other wireless power solution) may be appropriate. For other implementations, however, battery backup and/or direct wall power may be superior.
Various realizations the remote control apparatus 260 may be envisaged, such as, for example, a tablet computer, a smartphone, a portable computer (laptop), and/or other device comprising a display and a user input interface. In one or more implementations, the user input interface may comprise one of touch sensor, sound sensor, proximity sensor, visual sensor, and/or other sensor.
The remote control apparatus may be configured to interface to a robotic device (e.g., rover 200 of
In some implementations, particularly wherein the robotic device may comprise multiple controllable components (e.g., two wheels 206, 208 in
In some implementations, the remote control realization 240 may be utilized with a rover configuration (not shown) comprising four motorized wheels configured to be controlled in pairs (e.g., front and back right wheels, and front and back left wheels).
While motion of the control element configured to control forward/back motion may match the direction of the rover movement associated with the slider 242 (e.g., arrows 232 and 246 are parallel with one another), motion of the control element configured to control left/right rover movement (e.g., slider 244) may not match the direction of the rover movement (e.g., arrows 234 and 246 are perpendicular with one another). Some implementations may include a remote control configured such that configuration of control elements (e.g., sliders 242, 244) matches the direction of respective robot motions (e.g., 232, 234, respectively).
The controller 300 may be configured to operate a robotic device configured to move in a plane characterized by two orthogonal motion components (e.g., rover 220 configured to move on a horizontal plane characterized by components 232, 234). The controller apparatus 300 may comprise sliders 302, 304 disposed such that direction of their movement 306, 308, respectively, matches motion components of the rover (e.g., components 232, 234 of the rover 220). In one or more implementations, the control element 302 may be referred to as the speed control (throttle). The control element 304 may be referred to as direction control (steering.)
In some implementations, steering control elements of the controller apparatus configured to control motion of a rover in two dimensions may comprise a knob, e.g., 324 of the controller 320 in
In one or more implementations, the controller 300 and/or 320 may be utilized to control a rover comprising four motorized wheels controllable in pairs (e.g., front and back right wheels, and front and back left wheels).
The platform may be adapted to accept a telescopic arm 410 disposed thereupon. The arm 410 may comprise one or more portions (e.g., boom 412, portion 414) configured to be moved in directions shown by arrows 406 (telescope boom 412 in/out); 422 (rotate the portion 414 up/down). A utility attachment 415 may be coupled to the arm 414. In one or more implementations, the attachment 415 may comprise a hook, a grasping device, a ball, and/or any applicable attachment. The attachment 415 may be moved in direction shown by arrow 426. The arm 410 may be configured to elevate up/down (using for example, motor assembly 411) and/or be rotated as shown by arrows 420, 428 respectively in
The control elements 464, 462 may be configured to operate along directions 462, 460, respectively, and control two dimensional motion of the platform 402 (shown by arrows 424, 429, respectively in
In some implementations of the robotic device (e.g., the robotic apparatus 400), the portion 414 may be omitted during device configuration, and/or configured to extend/telescope in/out. The controller 450 interface may be configured to in accordance with modification of the robotic device, by for example, providing an additional control element (not shown) to control the extension of the portion 414. In some implementations in order to reduce number of controls, additional control operations may be effectuated by contemporaneous motion of two or more control elements. By way of example, simultaneous motion of control elements 454, 456 may effectuate extension control of the portion 414.
The controller 457 of
A remote controller user interface configured in accordance with the robotic phenotype may be referred to as having matching, conforming, and/or compliant configuration. The methodology providing conforming remote controllers may be utilized with robotic devices configurable to operate in multiple phenotype configurations. In some implementations, multiple phenotype configurations may be effectuated due to a reconfiguration and/or replacement of a portion of robotic plant (e.g., replacing horizontally rotating manipulator arm with a telescopic arm). In one or more implementations, individual ones of multiple phenotypes may be realized by operating a robot in different orientations, e.g., as illustrated below.
A robot of configuration 500 may be provided with a remote controller apparatus 520. User interface of the remote controller 520 may comprise two slider control elements 522, 524. The control elements 522, 524 may be configured to be moved along direction shown by arrow 526. In, some implementations, displacing the slider 524 along direction 526 may cause left/right motion (e.g., shown by arrow 514) of the rover 502; displacing the slider 522 along direction 526 may cause left/right rotation of the turret 504 (e.g., shown by arrow 507).
The rover 502 may be configurable to operate in orientation shown in
Panel 540 in
The robotic apparatus 602 may communicate with a remote controller device 604 via a remote link 612. In one or more implementations, the robotic apparatus 602 may comprise a mobile rover 200, 220, robotic apparatus 400, 502 of
In some implementations, the robot 602 may provide or publish the configuration via link 614 to a remote computerized device 610. In some implementations, the computerized device 610 may comprise a cloud server depository and/or remote server configured to store operational software and/or configuration of the robot 602. In some implementations, the apparatus 610 may be configured to store software code or firmware for download to one or more robotic devices (e.g., robotic apparatus 602), for example, the methodology described in U.S. patent application Ser. No. 13/830,398 entitled “NEURAL NETWORK LEARNING AND COLLABORATION APPARATUS AND METHODS” (the '398 Application), filed Mar. 14, 2013, incorporated herein by reference in its entirety. As described in the '398 Application, the cloud server may connect to the robotic apparatus 602 (or otherwise accesses information about the apparatus, such as from a network server or cloud database, or other user device) to collect hardware and other data of utility in determining compatibility with available software images. In some implementations, the user interface device 604 may collect this information from the robotic apparatus 602 and forward it to the server 610. The user interface device 604 may retrieve configuration of the robotic apparatus 602 from the depository 610 via link 608. In one or more implementations, the link 608 may comprise wired link (e.g., USB, SPI, I2C, Ethernet, Firewire, and/or other wired link) and/or wireless link (e.g., radio frequency, light, ultrasonic, and/or other wireless link). The remote controller apparatus may utilize updated robot configuration information to configure a user interface in accordance with the robot operational configuration using any of the applicable methodologies described herein.
In some implementations, methods 700, 800, 820, 900 may be implemented in one or more processing devices (e.g., a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and/or other mechanisms for electronically processing information). The one or more processing devices may include one or more devices executing some or all of the operations of methods 700, 800, 820, 900 in response to instructions stored electronically on an electronic storage medium. The one or more processing devices may include one or more devices configured through hardware, firmware, and/or software to be specifically designed for execution of one or more of the operations of methods 700, 800, 820, 900. Operations of methods 700, 800, 820, 900 may be utilized with a remote controlled robotic apparatus such as illustrated in
At operation 702 of method 700, illustrated in
At operation 704, the configuration may be communicated to the adaptation logic associated with remote control interface. In some implementations, the adaptation logic may comprise a processor of the remoter controller (e.g., 266 in
At operation 706, a configuration of a remote controller interface that is consistent with the robot configuration may be determined. In one or more implementations, the consistent interface configuration may be based on disposing one or more control elements (e.g., sliders 542, 544 in
At operation 708, the robot may be operated using a remote controller characterized by the consistent interface configuration.
At operation 802 interface of controller of a robot may be arranged in accordance with robot hardware configuration. In some implementations, the robot hardware configuration may comprise one or more of a number of joints, a number of motor actuators, orientation of joints and/or motor actuators, and/or other information associated with configuration. Arrangement of the remote control interface may comprise disposing control element (e.g., sliders 302, 304 in
At operation 804, the robot may be operated using the interface configuration determined at operation 802. In some implementations, operations 804 may comprise controlling speed and direction of the rover 220 of
At operation 806, a modification of the robot hardware configuration may be detected. In some implementations, the modification of the robot hardware configuration may comprise addition and/or removal of joints and/or motor actuators, change of orientation of joints and/or motor actuators, coupling and/or decoupling or paired wheels, and/or other changes or modifications. In one or more implementations, the modification of the robot hardware configuration may be performed by a user. The modification of the robot hardware configuration may occur due to a component malfunction (e.g., burned out motor). The detection may be performed automatically based on a configurations file and/or execution of a diagnostic process by hardware component controller (e.g., servo error status report). In some implementations, the modification detection information may be provided by a user (e.g., via changes to a configuration register). In one implementations, the modification may comprise conversion of fixed front wheel vehicle (e.g., the rover 200 of
At operation 808, an interface of the robotic controller may be adjusted consistent with the modified robot configuration as described, for example, with respect to operation 802 above.
At operation 810, the robot may be operated using the adjusted interface configuration determined at operation 808. In some implementations, operations 810 may comprise controlling speed and direction of the rover 220 of
At operation 822, an interface of a controller of a robot may be arranged in accordance with a robot hardware configuration. In some implementations, the robot hardware configuration may comprise one or more of a number of joints, a number of motor actuators, orientation of joints and/or actuators, and/or other information associated with configuration.
At operation 824, the robot may be operated using the interface configuration determined at operation 822. In some implementations, operations 824 may comprise controlling speed and/or direction of the rover 220 of
At operation 826, changes of the robot operational configuration and/or environment characteristics may be detected. In some implementations, changes of the robot operational configuration may be based on a change of robot orientation (e.g. as described with respect to
In some implementations, the modification detection information may be provided by a user (e.g., via changes to a configuration register and/or a command) and/or detected automatically based, for example, on an output of robot's orientation sensor.
At operation 828, interface of the robotic controller may be adjusted consistent with the modified robot configuration as described, for example, with respect to operation 802 of
At operation 830, the robot may be operated using the adjusted interface configuration determined at operation 828. In some implementations, operations 830 may comprise controlling speed and direction of the rover 220 of
At operation 902, a data communication may be established with a robot. In some implementations, the communication may comprise communication between the robot and a robot remote controller (e.g., 604 in
At operation 904, a robot configuration may be determined. In some implementations, determination of the robot's configuration may comprise operation 702 of method 700 of
At operation 906, an interface of a robot controller may be configured to conform to the robot configuration. In some implementations, the robot configuration may be characterized by a number of joints, a number of motor actuators, orientation of joints and/or motor actuators, and/or other information associated with configuration. Arrangement of the remote control interface may comprise disposing control element (e.g., sliders 302, 304 in
At operation 908, training may commence. A training goal may comprise directing the robot to follow a target trajectory.
During training, at operation 910, intuitive correspondence may be developed between the control commands and the resultant action by the robot. The development of the intuitive correspondence may be facilitated based on the conforming configuration of the controller interface obtained at operations 906. By way of non-limiting illustration, using controller interface wherein motion of control elements (e.g., the sliders 302, 304 in
At operation 912, the training goal may be attained. In some implementations, the goal attainment may be determined based on the robot navigating the target directory with target performance. In one or more implementations, training performance may be determined based on a discrepancy measure between the actual robot trajectory and the target trajectory. The discrepancy measure may comprise one or more of maximum deviation, maximum absolute deviation, average absolute deviation, mean absolute deviation, mean difference, root mean squared error, cumulative deviation, and/or other measures.
One or more of the methodologies comprising adaptation of remote control user interface described herein may facilitate training and/or operation of robotic devices. In some implementations, a user interface configured to match configuration of the robot may enable users to provide more timely training input, reduce number of erroneous commands due to, e.g., user confusion. Such development of intuitive correspondence between the controller interface and the robot behaved (e.g., movements) improvements may reduce training time and/or improve training accuracy. In some applications, adaptively configured user interface may free users from the need to re-program remote control devices for every individual robot configuration thereby enabling a wide population of users without specialized robotic programming skills to train and operate a wider variety of robots.
In some implementations, remote interface adaptation due to detected robot component failures may improve user experience while operate robotic devices by, for example, disabling controls for failed components.
It will be recognized that while certain aspects of the disclosure are described in terms of a specific sequence of steps of a method, these descriptions are only illustrative of the broader methods of the disclosure, and may be modified as required by the particular application. Certain steps may be rendered unnecessary or optional under certain circumstances. Additionally, certain steps or functionality may be added to the disclosed implementations, or the order of performance of two or more steps permuted. All such variations are considered to be encompassed within the disclosure disclosed and claimed herein.
While the above detailed description has shown, described, and pointed out novel features of the disclosure as applied to various implementations, it will be understood that various omissions, substitutions, and changes in the form and details of the device or process illustrated may be made by those skilled in the art without departing from the disclosure. This description is in no way meant to be limiting, but rather should be taken as illustrative of the general principles of the technology. The scope of the disclosure should be determined with reference to the claims.
This application is a continuation of U.S. patent application Ser. No. 13/907,734 entitled “ADAPTIVE ROBOTIC INTERFACE APPARATUS AND METHODS,” filed on May 31, 2013, which is incorporated herein by reference in its entirety. This application is related to co-pending and co-owned U.S. patent application Ser. No. 13/842,530 entitled “ADAPTIVE PREDICTOR APPARATUS AND METHODS”, filed Mar. 15, 2013; U.S. patent application Ser. No. 13/842,562 entitled “ADAPTIVE PREDICTOR APPARATUS AND METHODS FOR ROBOTIC CONTROL”, filed Mar. 15, 2013; U.S. patent application Ser. No. 13/842,616 entitled “ROBOTIC APPARATUS AND METHODS FOR DEVELOPING A HIERARCHY OF MOTOR PRIMITIVES”, filed Mar. 15, 2013; U.S. patent application Ser. No. 13/842,647 entitled “MULTICHANNEL ROBOTIC CONTROLLER APPARATUS AND METHODS”, filed Mar. 15, 2013; and U.S. patent application Ser. No. 13/842,583 entitled “APPARATUS AND METHODS FOR TRAINING OF ROBOTIC DEVICES”, filed Mar. 15, 2013; each of the foregoing being incorporated herein by reference in its entirety.
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| Child | 14595163 | US |
