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US 2026/0077484 A1Published application
Control Processes and System for Hybrid Autonomous Robots
AssigneeSarcos Corp.
InventorsDenis GARAGIC, Fraser M. SMITH, Marc X. OLIVIER, Daniel HAGEN, Samuel CHESEBROUGH, Eric MCCLAIN, James TIGUE
Life of this patent
Estimating the term…
Abstract
Technology is described for a controller or control service that facilitates the use of robots as hybrid machines. More specifically, a task space controller can be provided for an robot with hybrid input from either a human or programmed tasks.
Claims36
A method for controlling a robot with hybrid control, comprising:
- receiving a plurality of robot states and environmental states from sensors of the robot;
- receiving a plurality of user inputs from sensors associated with the robot;
- modeling the plurality of robot states, environmental states and the plurality of user inputs in programming models;
- solving the programming models using a solver;
- and
- sending output instructions to the robot in order to enable the robot to transition toward a desired state.
3 more elements
A method for controlling a robot with hybrid control, comprising:
- receiving a plurality of robot states and environmental states from sensors in the robot;
- receiving a plurality of user inputs from sensors associated with the robot;
- setting priorities for a plurality of tasks for the robot, the user inputs and the environmental states;
- solving the plurality of tasks in a priority order using a solver;
- and
- sending output instructions to the robot in order to enable the robot to move toward a desired state.
3 more elements
A method for controlling a hybrid robot that is distant from a controller, comprising:
- receiving a plurality of robot states from sensors in a robot;
- defining a virtual model of the robot based on the robot states;
- receiving a plurality of user inputs from sensors associated with the robot;
- prioritizing a plurality of tasks for the robot;
- solving the plurality of tasks in a priority order using a solver in the controller,
- wherein the plurality of user inputs is a constraint on the plurality of tasks;
- and
- modifying the virtual model of the robot using output from the solver, while maintaining consistent control of the robot and accounting for delays in the plurality of user inputs.
5 more elements
A system to control a robot that is distant from a controller, comprising,
- at least one processor;
- a memory device including instructions that, when executed by the at least one processor, cause the system to:
- receive a virtual model of a robot having robotic states and simulated environment in which the virtual model may virtually operate;
- receive a plurality of user inputs from sensors associated with the virtual model of the robot;
- set the robotic states of the virtual model based in part on the user inputs;
- prioritize a plurality of tasks for the robot;
- solve the plurality of tasks in a priority order using a solver in the controller, wherein the user inputs are a constraint on the plurality of tasks;
- and
- modify a virtual model of the robot using output from the solver enabling a user to rehearse a task in a simulated environment.
6 more elements
Dependencies are inferred from the claim text.