Facilitating device control

Patent metadata

Field	Value
Publication number	US-2017305014-A1
Application number	US-201715492619-A
Country	US
Kind code	A1
Filing date	Apr 20, 2017
Priority date	Apr 25, 2016
Publication date	Oct 26, 2017
Grant date	—

Abstract

Systems, devices, articles, and methods are illustrated and described herein. A method of operation in a robotic system including a processor, a first device, and a second device involves receiving, by the processor, a training set including a first plurality of positions in a first configuration space that represents physical configurations of the first device, a second plurality of positions in a second configuration space that represents physical configurations of the second device, and information that represents pairs of positions. A representative pair includes a first representative position in the first configuration space and a second representative position in the second configuration space. The method involves creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space, and a second run-time position in the second configuration space, and returning, by the processor, the information that represents the map.

First claim

1 . A method of operation in a robotic system comprising, a processor, a first device in communication with the processor, and a second device in communication with the first device and the processor, the method comprising:
receiving, by the processor, a training set including:
a first plurality of positions in a first configuration space that represents physical configurations of the first device,
a second plurality of positions in a second configuration space that represents physical configurations of the second device, and
information that represents a plurality of pairs of positions, wherein a representative pair in the plurality of pairs of positions includes a first representative position in the first configuration space and a second representative position in the second configuration space;
creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space and a second run-time position in the second configuration space; and returning, by the processor, the information that represents the map.

2 . The method of claim 1 , wherein receiving the training set further comprises:
receiving, by the processor, the first plurality of positions in the first configuration space; receiving, by the processor, the second plurality of positions in the second configuration space; receiving, by the processor, the information that represents the plurality of pairs of positions; and storing, by the processor, the information that represents the plurality of pairs of positions on at least one tangible computer readable storage device.

3 . The method of claim 2 , wherein:
the first device comprises an operator interface in communication with the processor; the first configuration space includes a configuration space for the operator interface; and receiving the first plurality of positions in the first configuration space further comprises:
receiving, by the processor from the operator interface, the first plurality of positions in the configuration space for the operator interface.

4 . The method of claim 2 , wherein:
the second device comprises an operator controllable device in communication with the processor; the second configuration space includes a configuration space for the operator controllable device; and receiving the second plurality of positions in the second configuration space further comprises:
receiving, by the processor from the operator controllable device, the second plurality of positions in the configuration space for the operator controllable device.

5 . The method of claim 1 further comprising:
processing, by the processor, the training set into a processed training set.

6 . The method of claim 1 further comprising:
creating, by the processor, information that represents a plurality of nearest neighbour cells, wherein each cell in the plurality of nearest neighbour cells includes a position from the first plurality of positions in the first configuration space; and
including, by the processor, in the information that represents the map, the information that represents the plurality of nearest neighbour cells.

7 . The method of claim 6 further comprising:
creating, by the processor, information that represents a cut off distance in the first configuration space; and
including, by the processor, in the information that represents the map, the information that represents the cut off distance in the first configuration space.

8 . The method of claim 1 further comprising:
creating, by the processor, a dictionary of atoms and a plurality of weights that in linear combination define at least one representative pair in the plurality of pairs of positions; and
including, by the processor, in the information that represents the map, the information that represents the dictionary of atoms.

9 . The method of claim 8 further comprising:
selecting, by the processor, a fit function that includes the dictionary of atoms and the plurality of weights; and
improving, by the processor, the fit function wherein in response to the improving by the processor, the processor creates the dictionary of atoms and the plurality of weights.

10 . The method of claim 1 further comprising:
selecting, by the processor, information that represents a plurality of parameters for a Gaussian process; and
including, by the processor, the information that represents the map, the information that represents the plurality of parameters for the Gaussian process.

11 . The method of claim 1 further comprising:
storing, by the processor, the information that represents the map on at least one tangible computer readable storage media.

12 . A method of operation in a robotic system comprising, a processor, an operator interface in communication with the processor, and an operator controllable device in communication with the processor and the operator interface, the method comprising:
receiving, by the processor, information that represents a map between a first position in a first configuration space associated with physical configurations for the operator interface and a second position in a second configuration space associated with physical configurations for the operator controllable device; receiving, by the processor, a first run-time position in the first configuration space; creating, by the processor, a second run-time position in the second configuration space from the information that represents the map, and the first run-time position in the first configuration space; causing, by the processor, an action to be taken with the second run-time position in the second configuration space; and producing, by the processor, a signal including information that represents an action for the operator controllable device, wherein the information when interpreted causes the operator controllable device to assume the second run-time position.

13 . The method of claim 12 further comprising:
receiving, by the processor from the operator interface, the first run-time position in the configuration space for the operator interface.

14 . The method of claim 12 further comprising:
creating, by the processor, the second run-time position in the configuration space for the operator controllable device.

15 . The method of claim 12 further comprising:
receiving, by the processor, information that represents a plurality of nearest neighbour cells, wherein each cell in the plurality of nearest neighbour cells includes a calibration position from a first plurality of calibration positions in the first configuration space;
receiving, by the processor, information that represents a second plurality of calibration positions in the second configuration space, wherein a representative calibration position from the second plurality of calibration positions in the second configuration space is associated with a representative calibration position from the first plurality of calibration positions in the first configuration space; and
creating, by the processor, the second run-time position in the second configuration space from the second plurality of calibration positions in the second configuration space.

16 . The method of claim 15 further comprising:
receiving, by the processor, information that represents a cut off distance in the first configuration space;
selecting by the processor a cell from the plurality of nearest neighbour cells, wherein the first run-time position is within the cell and the cell includes the calibration position from the first plurality of calibrat

Assignees

• Kindred Sys Inc

Inventors

• Gildert Suzanne

Classifications

• B25J9/1692

  Calibration of manipulator · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• G05B2219/39024

  Calibration of manipulator · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title