Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries

A robotic control platform, comprising:

• one or more sensors;
• a mechanical robotic structure including one or more end effectors, and one or more robotic arms;
• an electronic library database, communicatively coupled to the mechanical robotic structure, of minimanipulations, each minimanipulation including a sequence of operations to achieve a predefined functional result, each operation comprising a sensing operation or a parameterized operation;
• a robotic planning module, communicatively coupled to the one or more sensors, the mechanical robotic structure and the electronic library database, configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data;
• a robotic interpreter module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code;
• and
• a robotic execution module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result associated with the minimanipulation steps;
• wherein the minimanipulations have been designed and tested to perform within a threshold of optimal performance in achieving the functional result, the optimal performance being task-specific, but defaulting to 1% of optimal when not otherwise specified for each given domain-specific application.

A robotic control platform, comprising:

• one or more sensors;
• a mechanical robotic structure including one or more end effectors, and one or more robotic arms;
• an electronic library database, communicatively coupled to the mechanical robotic structure, of minimanipulations, each minimanipulation including a sequence of operations to achieve a predefined functional result, each operation comprising a sensing operation or a parameterized operation;
• a robotic planning module, communicatively coupled to the one or more sensors, the mechanical robotic structure and the electronic library database, configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data;
• a robotic interpreter module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code;
• and
• a robotic execution module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result associated with the minimanipulation steps;
• a robotic learning module, communicatively coupled to the mechanical robotic structure and the electronic library database, wherein the one or more robotic sensors record the actions of a human and the module in the humanoid robotic platform uses the recorded sequence of human actions to learn a new minimanipulation executable by the robotic platform in order to obtain the same functional result as observed and recorded from the human;
• wherein the robotic learning module estimates the probability of obtaining the functional result if the preconditions of the minimanipulation are matched by the execution module and the parameter values of the minimanipulation are within the specified range.

A robotic control platform, comprising:

• one or more sensors;
• a mechanical robotic structure including one or more end effectors, and one or more robotic arms;
• an electronic library database, communicatively coupled to the mechanical robotic structure, of minimanipulations, each minimanipulation including a sequence of operations to achieve a predefined functional result, each operation comprising a sensing operation or a parameterized operation;
• a robotic planning module, communicatively coupled to the one or more sensors, the mechanical robotic structure and the electronic library database, configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data;
• a robotic interpreter module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code;
• a robotic execution module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result associated with the minimanipulation steps;
• and
• a human robot interface mechanism to enable the human to refine the learned minimanipulation by specifying and transmitting ranges of values for the parameters of the minimanipulation and specifying the preconditions for the minimanipulation to the robotic platform via the human-robot interface mechanism.

A robotic control platform, comprising:

• one or more sensors;
• a mechanical robotic structure including one or more end effectors, and one or more robotic arms;
• an electronic library database, communicatively coupled to the mechanical robotic structure, of minimanipulations, each minimanipulation including a sequence of operations to achieve a predefined functional result, each operation comprising a sensing operation or a parameterized operation;
• a robotic planning module, communicatively coupled to the one or more sensors, the mechanical robotic structure and the electronic library database, configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data;
• a robotic interpreter module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code;
• and
• a robotic execution module, communicatively coupled to the mechanical robotic structure and the electronic library database, configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result associated with the minimanipulation steps;
• wherein the robotic planning module calculates similarity to previously stored plans and uses case-based reasoning to formulate a new plan based on modifying and augmenting one or more previously stored plans used to obtain similar results, the newly formulated plan including a sequence of minimanipulations to be stored in an electronic plan library.