US 8,271,132 B2 · System and method for seamless task-directed autonomy for robots

Abstract

Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

Claims31

Dependent claims

A graphical user interface for controlling a robot, comprising:

an environment map window configured for displaying a map of an environment proximate the robot;
a robot designator configured for showing a robot position and a robot pose in the environment map window;
at least one task designator configured for positioning by a user in the environment map window and indicating a task for the robot to achieve;
and
a control intermediary configured for linking user defined tasks with robot instructions by:
analyzing a position of the at least one task designator relative to a position of at least one robot component;
determining a task-oriented autonomy level for the robot responsive to the analysis;
and
communicating target achievement information to the robot, wherein the target achievement information comprises:
instructions from the control intermediary for guiding the robot to achieve the task if the task-oriented autonomy level comprises low robot initiative;
and
instructions from the control intermediary directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level comprises high robot initiative.

9 more elements

A method for controlling a robot, comprising:

providing a user interface for controlling the robot;
positioning at least one task-oriented target in a map on the user interface representing an environment of the robot;
determining a task-oriented autonomy level of the robot correlated to a change in the at least one task-oriented target;
if the change in the at least one task-oriented target is smaller than a change threshold, instructing the robot to achieve the at least one task-oriented target by intervention instructions from the user interface;
and
if the change in the at least one task-oriented target is larger than the change threshold, instructing the robot to achieve the at least one task-oriented target using robot initiative to determine a robot plan for achieving the at least one task-oriented target and implementing the robot plan.

3 more elements

A robot control system, comprising:

a user computer comprising a memory and at least one processor configured for executing a user interface, the user interface configured for:
positioning at least one task-oriented target in a map on the user interface representing an environment of the robot;
determining a task-oriented autonomy level of the robot correlated to a change in the at least one task-oriented target;
if the change in the at least one task-oriented target is smaller than a change threshold, instructing the robot to achieve the at least one task-oriented target by intervention instructions from the user interface;
and
if the change in the at least one task-oriented target is larger than the change threshold, instructing the robot to achieve the at least one task-oriented target using robot initiative to determine a robot plan for achieving the at least one task-oriented target and implementing the robot plan;
and
a robot platform comprising a locomotor and a system controller, the system controller configured for:
developing the robot plan to achieve the at least one task-oriented target and performing the robot plan if robot initiative instructions are received from the user computer;
and
performing the intervention instructions for achieving the at least one task-oriented target and, if appropriate, overriding the robot plan to achieve the at least one task-oriented target if the intervention instructions are received from the user computer.

8 more elements

Dependencies are inferred from the claim text.

System and method for seamless task-directed autonomy for robots

Life of this patent

System and method for seamless task-directed autonomy for robots

Life of this patent

Abstract

Claims31