Systems and methods for dimensionally-restricted robotic teleoperation
AssigneeToyota Research Institute, Inc.
InventorsAllison Thackston, Sam Zapolsky, Katarina Bouma, Laura Stelzner, Ron Goldman
Life of this patent
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Abstract
A method includes providing a virtual representation of an environment of a robot, the virtual representation including an object representation of an object in the environment. The method further includes receiving manipulation input from a user to teleoperate the robot for manipulation of the object. The method also includes alerting the user to an alignment dimension based upon the manipulation input, receiving confirmation input from the user to engage the alignment dimension, and constraining at least one dimension of movement of the object according to the alignment dimension.
Claims20
A method comprising:
- providing a virtual representation of an environment of a robot, wherein the virtual representation comprises an object representation of an object in the environment;
- receiving manipulation input from a user to teleoperate the robot for manipulation of the object;
- alerting the user to a candidate opening in the virtual representation of the environment for which the object is a fit;
- receiving confirmation input from the user to engage the candidate opening in response to alerting the user to the candidate opening;
- alerting the user to an alignment dimension based upon the manipulation input;
- receiving confirmation input from the user to engage the alignment dimension;
- and
- constraining at least one dimension of movement of the object with respect to the candidate opening according to the alignment dimension.
A system comprising:
- an interface component configured to provide a virtual representation of an environment of a robot, wherein the virtual representation comprises an object representation of an object in the environment;
- a control device configured to receive manipulation input to control the robot;
- and
- a processor, coupled to memory, the processor being configured to:
- alert the user to a candidate opening in the virtual representation of the environment for which the object is a fit;
- receive confirmation input from the user to engage the candidate opening in response to alerting the user to the candidate opening;
- alert the user to an alignment dimension based upon the manipulation input;
- receive confirmation input from the user to engage the alignment dimension;
- and
- constrain at least one dimension of movement of the object with respect to the candidate opening according to the alignment dimension.
Dependencies are inferred from the claim text.