Software compensated robotics
AssigneeSanctuary Cognitive Systems Corporation
InventorAdrian Kaehler
Life of this patent
Estimating the term…
Abstract
A software compensated robotic system makes use of recurrent neural networks and image processing to control operation and/or movement of an end effector. Images are used to compensate for variations in the response of the robotic system to command signals. This compensation allows for the use of components having lower reproducibility, precision and/or accuracy that would otherwise be practical.
Claims19
A robotic system comprising:
- a movement generation device;
- a robotic arm having a movement in a three-dimensional space responsive to the movement generation device;
- an end effector coupled to the robotic arm and having a spatial pose adjustable, at least in part, by the movement of the robotic arm in the three-dimensional space;
- one or more sensing devices configured to capture one or more images of a portion of an environment including the end effector;
- and
- a neural network configured to output controls for the movement generation device in response to receiving images captured by the one or more sensing devices, wherein the neural network comprises a first processing block configured to estimate a position of an occluded object in an image of the portion of the environment and generate an image processing output that is representative of a state of a first object within the image and that includes the estimate of the position of the occluded object, wherein the first object is different from the occluded object.
A method of operating a robotic system, the method comprising:
- receiving a first image of a portion of an environment including an end effector, wherein the end effector is coupled to a robotic arm that is responsive to a movement generation device;
- generating a first image processing output representative of a state of a first object within the first image, wherein generating the image processing output comprises estimating a position of an occluded object in the first image, wherein the first image processing output includes the estimate of the position of the occluded object, and wherein the first object is different from the occluded object;
- generating command signals for movement of the end effector;
- and
- providing an output for control of the movement generation device based on the command signals and the image processing output, wherein providing the output causes the robotic arm to adjust at least one component of a spatial pose of the end effector.
One or more non-transitory computer-readable storage media storing computer-executable instructions for causing a computing system to perform operations comprising:
- receiving an image captured by one or more sensing devices configured to capture images of a portion of an environment including an end effector, wherein the end effector is coupled to a robotic arm;
- generating, by a processing block of a neural network, an image processing output representative of a state of a first object within the image, wherein generating the image processing output comprises estimating a position of one or more occluded objects in the image, wherein the image processing output includes the estimate of the position of the one or more occluded objects, wherein the first object is different from the one or more occluded objects;
- generating command signals for movement of the end effector based on a movement goal for the end effector;
- and
- providing an output for control of a movement generation device coupled to the robotic arm based on the set of command signals and the set of image processing outputs, wherein the output causes the robotic arm to adjust at least one component of a spatial pose of the end effector.
Dependencies are inferred from the claim text.