Hierarchical polytope workspace mapping for human-robot collaboration
AssigneeIntel Corporation
InventorsRafael De La Guardia Gonzalez, Leobardo Campos Macias, David Gonzalez Aguirre, Javier Felip Leon
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Abstract
Various aspects of techniques, systems, and use cases for robot movement within human-robot collaboration (HRC) areas are disclosed. Convex free-space regions around points of interest in the HRC are detected and updated using one or more sensors. Collision-free motion plans for robots use a Hierarchical Convex Polytope (HCP) region in which the robot is removed from the occupied space in the scene using depth cameras.
Claims20
A system comprising:
- processing circuitry;
- and
- memory including instructions, which when executed by the processing circuitry cause the processing circuitry to:
- obtain a voxelized representation of occupied space in a scene, the voxelized representation including a point cloud;
- form a Hierarchical Convex Polytope (HCP) region of unoccupied space around a point of interest in the scene using topological mapping;
- and
- determine a path of a robot from the point of interest within the HCP region to an end point.
A robot comprising:
- processing circuitry configured to:
- obtain a voxelized representation of a scene;
- form a Hierarchical Convex Polytope (HCP) region of unoccupied space around a point of interest in the scene;
- and
- determine a path of at least an arm of the robot at the point of interest to an end point within the HCP region;
- and
- an actuator to move at least the arm of the robot based on the path.
At least one machine-readable medium including instructions, which when executed by processing circuitry of a robot, cause the processing circuitry to perform operations to:
- obtain a voxelized representation of a scene, the voxelized representation comprising multiple generations of voxels;
- form a Hierarchical Convex Polytope (HCP) region of unoccupied space around a point of interest in the scene;
- determine a path of at least a portion of the robot at the point of interest to an end point within the HCP region along at least one of the generations of voxels;
- and
- move at least the portion of the robot based on the path.
Dependencies are inferred from the claim text.