Human-machine collaborative robotic systems
AssigneeThe Johns Hopkins University
InventorsGregory Hager, Nicolas Padoy
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Abstract
A semi-automatic, interactive robotic system for performing and/or simulating a multi-step task includes a user interface system, a recognition system adapted to communicate with the user interface system, a control system adapted to communicate with the recognition system, and a sensor-actuator system adapted to communicate with the control system. The recognition system is configured to recognize actions taken by a user while the user operates the user interface system and to selectively instruct the control system to cause the sensor-actuator system to perform, and/or simulate, one of an automatic step, a semi-automatic step or direct step of the multi-step task based on the recognized actions and a task model of the multi-step task.
Claims18
A semi-automatic, interactive robotic system for performing a multi-step task, comprising:
- a user interface system;
- a recognition system adapted to communicate with said user interface system;
- a control system adapted to communicate with said recognition system;
- and
- a sensor-actuator system of a robot adapted to communicate with said control system,
- wherein said recognition system is configured to recognize, based on a task model of said multi-step task, actions taken by a user while said user operates said user interface system and instruct said control system to cause said sensor-actuator system of said robot to perform a direct step of said multi-step task,
- wherein said recognition system is further configured to recognize the completion of said direct step, and
- wherein said recognition system is further configured to instruct said control system to cause said sensor-actuator system of said robot to perform an automatic step of said multi-step task upon completion of the direct step based on said recognized actions and said task model of said multi-step task.
A semi-automatic, interactive robotic simulation system for simulating a multi-step task, comprising:
- a user interface system;
- a recognition system adapted to communicate with said user interface system;
- a control system adapted to communicate with said recognition system;
- and
- a simulated sensor-actuator system of a robot adapted to communicate with said control system,
- wherein said recognition system is configured to recognize, based on a task model of said multi-step task, actions taken by a user while said user operates said user interface system and instruct said control system to cause said simulated sensor-actuator system of said robot to simulate the performance of a direct step of said multi-step task,
- wherein said recognition system is further configured to recognize the completion of said direct step, and
- wherein said recognition system is further configured to instruct said control system to cause said sensor-actuator system of said robot to perform an automatic step of said multi-step task upon completion of the direct step based on said recognized actions and said task model of said multi-step task.
Dependencies are inferred from the claim text.