Teleoperation system, method, apparatus, and computer-readable medium

An apparatus for teleoperation, the apparatus comprising at least one processor and a memory storing computer program instructions executable by the at least one processor, wherein the memory with the computer instructions and the processor are configured to cause the apparatus to at least:

• (a) maintain, by the memory, a simulation model;
• (b) sense, by at least one sensor, data corresponding to a body of the apparatus and an environment surrounding the apparatus;
• (c) transmit, by the at least one processor, the sensed data;
• (d) receive, by the at least one processor, a new simulation model, the new simulation model comprising a description of the body of the apparatus and the environment surrounding the apparatus;
• (e) determine, by the at least one processor, an updated simulation model, the updated simulation model comprising a combination of the new simulation model and the sensed data;
• and
• (f) moving the apparatus in response to the determined updated simulation model, wherein the sensed data is transmitted at a first rate and wherein the new simulation model is received at a second rate different from said first rate.

An apparatus for teleoperation, the apparatus comprising at least one processor and a memory storing computer program instructions executable by the at least one processor, wherein the memory with the computer instructions and the processor are configured to cause the apparatus to at least:

• (a) maintain, by the memory, a simulation model;
• (b) transmit, by the at least one processor, the simulation model to a user interface and a robot machine;
• (c) receive, by the at least one processor, sensed data from the robot machine and user inputs from the user interface;
• (d) determine, by the at least one processor, an updated simulation model comprising a combination of the received sensed data, the received user inputs, and the simulation model;
• and
• (e) transmit, by the at least one processor, the updated simulation model to the robot machine and the user interface, wherein the sensed data is received at a first rate and wherein the user inputs are received at a second rate different from said first rate.

An apparatus for teleoperation, the apparatus comprising a user interface, at least one processor and a memory storing computer program instructions executable by the at least one processor, wherein the memory with the computer instructions and the processor are configured to cause the apparatus to at least:

• (a) maintain, by the memory, a user simulation model;
• (b) display, by the user interface, the user simulation model as a virtual representation of a robot machine and an environment surrounding the robot machine, the virtual representation based on the simulation model;
• (c) receive, by the user interface, user inputs to the virtual representation;
• (d) change, by the at least one processor, the displayed virtual representation based on the received user inputs;
• (d) transmit, by the at least one processor, the user inputs;
• and
• (e) receive, by the at least one processor, an updated user simulation model;
• and
• (f) display, by the user interface, the updated user simulation model, wherein the virtual representation is changed at a first rate and wherein the updated user simulation model is received at a second rate different from said first rate.