Anticipating User and Object Poses through Task-Based Extrapolation for Robot-Human Collision Avoidance
AssigneeSamsung Electronics Co., Ltd.
InventorsPhilipp Schoessler, Brian Harms, Kathleen Sofia Hajash, Dane Mason
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Abstract
In one embodiment, a method includes determining objects and actions associated with the objects for completing a task to be executed by a robotic system, wherein each action is associated with trajectory, determining a pose for each person in an environment associated with the robotic system, predicting a trajectory for each person based on the determined pose associated with the respective person and the actions and trajectories associated with the actions, and adjusting trajectories for one or more of the actions to be performed by the robotic system based on the predicted trajectories for each person.
Claims20
A method comprising, by a robotic system:
- determining, for a task to be executed by the robotic system, one or more objects and one or more actions associated with the one or more objects for completing the task, wherein each action is associated with a trajectory;
- determining, for each of one or more people in an environment associated with the robotic system, a pose of the respective person;
- predicting, for each of the one or more people, a traj ectory of the respective person, wherein the predicted trajectory for each person is based on the determined pose associated with the respective person and the actions and trajectories associated with the actions;
- and
- adjusting, based on the predicted traj ectories for each of the people, one or more trajectories for one or more of the actions to be performed by the robotic system.
A robotic system comprising:
- a computing system with control software;
- a robot controller;
- one or more robotic limbs;
- one or more non-transitory computer-readable storage media including instructions;
- and
- one or more processors coupled to the storage media, the one or more processors configured to execute the instructions to:
- determine, for a task to be executed by the robotic system, one or more objects and one or more actions associated with the one or more objects for completing the task, wherein each action is associated with a trajectory;
- determine, for each of one or more people in an environment associated with the robotic system, a pose of the respective person;
- predict, for each of the one or more people, a trajectory of the respective person, wherein the predicted trajectory for each person is based on the determined pose associated with the respective person and the actions and trajectories associated with the actions;
- and
- adjust, based on the predicted trajectories for each of the people, one or more trajectories for one or more of the actions to be performed by the robotic system.
A computer-readable non-transitory storage media comprising instructions executable by a processor of a robotic system to:
- determine, for a task to be executed by the robotic system, one or more objects and one or more actions associated with the one or more objects for completing the task, wherein each action is associated with a trajectory;
- determine, for each of one or more people in an environment associated with the robotic system, a pose of the respective person;
- predict, for each of the one or more people, a trajectory of the respective person, wherein the predicted trajectory for each person is based on the determined pose associated with the respective person and the actions and trajectories associated with the actions;
- and
- adjust, based on the predicted trajectories for each of the people, one or more trajectories for one or more of the actions to be performed by the robotic system.
Dependencies are inferred from the claim text.