Methods and Systems to Provide Feedback Based on a Motion Per Path Metric Indicative of an Effect of Motion Associated with Components of a Robotic Device

Patent metadata

Field	Value
Publication number	US-2016263752-A1
Application number	US-201615165160-A
Country	US
Kind code	A1
Filing date	May 26, 2016
Priority date	Dec 3, 2014
Publication date	Sep 15, 2016
Grant date	—

Abstract

Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.

First claim

What is claimed is:

1 . A method comprising:
receiving an input indicative of operational information associated with a robotic device; determining a motion per path metric at one or more positions of the robotic device according to the operational information; determining a force associated with the motion per path metric at the one or more positions; based on the motion per path metric and the force, determining, by one or more processors, one or more feedback characteristics, wherein the one or more feedback characteristics vary according to an effect of motion at the one or more positions; and providing, to an indicator coupled to the robotic device, information indicative of the one or more feedback characteristics, wherein the information indicative of the one or more feedback characteristics includes a visual characteristic that indicates a proximity perimeter area related to a distance around the robotic device needed for operation of the robotic device.

2 . The method of claim 1 , further comprising:
based on the force being greater than a threshold at the one or more positions, providing to the indicator information informing of possible dangerous motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

3 . The method of claim 1 , further comprising:
based on the force being less than a threshold at the one or more positions, providing to the indicator information informing of safe motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

4 . The method of claim 1 , wherein the information indicative of the one or more feedback characteristics is associated with an upcoming operation of the robotic device so as to inform of the proximity perimeter area prior to the robotic device performing the operation.

5 . The method of claim 4 , further comprising displaying the visual characteristic by the indicator prior to the robotic device performing the operation so as to inform of the upcoming operation.

6 . The method of claim 1 , further comprising displaying the visual characteristic by the indicator.

7 . The method of claim 1 , wherein the operational information comprises one or more of power requirements associated with the robotic device, geometric information associated with one or more components of the robotic device, and a motion plan associated with the robotic device.

8 . The method of claim 1 , wherein the indicator comprises a visual indicator.

9 . The method of claim 1 , further comprising:
determining that the force is greater than a threshold at the one or more positions; determining a time period prior to a start of the operation; and based on the time period, adjusting the indicator to display a given color, wherein the given color is associated with an upcoming operation of the robotic device.

10 . The method of claim 1 , further comprising:
providing, to a second indicator located remotely from the robotic device, information indicative of the one or more feedback characteristics.

11 . The method of claim 1 , wherein the information indicative of the one or more feedback characteristics further includes an aural signal or a haptic signal.

12 . A robotic device comprising:
one or more components configured to be actuated for movement; one or more processors configured to determine a motion per path metric of the one or more components at one or more positions according to received operation information associated with the robotic device, and the one or more processors configured to determine a force associated with the motion per path metric at the one or more positions, and based on the motion per path metric and the force to determine one or more feedback characteristics, wherein the one or more feedback characteristics vary according to an effect of motion at the one or more positions; and an indicator coupled to the one or more components and to the one or more processors, the indicator configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion, wherein the feedback includes a visual characteristic that indicates a proximity perimeter area related to a distance around the robotic device needed for operation of the robotic device.

13 . The robotic device of claim 12 , wherein the one or more processors are further configured to:
based on the force being greater than a threshold at the one or more positions, provide to the indicator information informing of possible dangerous motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

14 . The robotic device of claim 12 , wherein the one or more processors are further configured to:
based on the force being less than a threshold at the one or more positions, provide to the indicator information informing of safe motion by the robotic device within the proximity perimeter area around the robotic device needed for operation of the robotic device.

15 . The robotic device of claim 12 , wherein the feedback includes information associated with an upcoming operation of the robotic device so as to inform of the proximity perimeter area prior to the robotic device performing the operation.

16 . The robotic device of claim 12 , wherein the indicator comprises a circular multi-color light emitting diode (LED) array.

17 . A robotic device comprising:
one or more actuators coupled through one or more joints to form one or more components; one or more processors configured to determine a motion per path metric of the one or more components based on an operation of the robotic device, to determine a force associated with the motion per path metric at one or more steps of operation of the robotic device, and to determine one or more feedback characteristics based on the motion per path metric and the force, wherein the one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components; an indicator coupled to the one or more components to provide feedback about the one or more components; and a controller programmable to control the indicator coupled to the one more components to provide the feedback according to the one or more feedback characteristics, wherein the feedback includes a visual characteristic that indicates a proximity perimeter area related to a distance around the robotic device needed for operation of the robotic device.

18 . The robotic device of claim 17 , wherein the indicator is located on an exterior surface proximal to an end effector of the robotic device.

19 . The robotic device of claim 17 , further comprising:
a plurality of visual indicators coupled to the one or more components to provide feedback about the one or more components.

20 . The robotic device of claim 17 , wherein the controller is configured to adjust the feedback associated with the indicator based on a given one or more feedback characteristics associated with an upcoming operation of the robotic device based on the motion per path metric being greater than a threshold.

Assignees

• Google Inc

Inventors

• Edsinger Aaron

Classifications

• B25J19/06 Primary

  Safety devices · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• Y10S901/02

  Arm motion controller · CPC title