System and method for quick scripting of tasks for autonomous robotic manipulation
AssigneeHRL Laboratories, LLC
InventorsDarren J. Earl, Derek W. Mitchell, Heiko Hoffmann
Life of this patent
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Abstract
Described is a system for a system for autonomous robotic manipulation. The system is configured to receiving a selected task from a task file library. The task is associated with causing a robot end effector to perform an action with a particular item, such as picking up an item. The selected task is transformed into a state machine. Thereafter, the system executes the state machine and, in doing so, causes the robot end effector to perform the selected task.
Claims20
A system for autonomous robotic manipulation, the system comprising:
- one or more processors and a memory, the memory having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of:
- learning one or more movement primitives by recording both movement and force applications from human demonstration of a robot end effector, each movement primitive being a path command;
- converting the movement primitive representing both movement and force applications into a differential equation;
- receiving a selected task from a task file library, the selected task being associated with causing the robot end effector to perform an action with a particular item;
- transforming the selected task into a state machine;
- and
- executing the state machine and, in doing so, causing the robot end effector to perform the selected task.
A computer program product for autonomous robotic manipulation, the computer program product comprising:
- a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, the one or more processors perform operations of:
- learning one or more movement primitives by recording both movement and force applications from human demonstration of a robot end effector, each movement primitive being a path command;
- converting the movement primitive representing both movement and force applications into a differential equation;
- receiving a selected task from a task file library, the selected task being associated with causing the robot end effector to perform an action with a particular item;
- transforming the selected task into a state machine;
- and
- executing the state machine and, in doing so, causing the robot end effector to perform the selected task.
A computer implemented method for autonomous robotic manipulation, the method comprising an act of:
- causing one or more processers to execute instructions encoded on a non-transitory computer-readable medium, such that upon execution, the one or more processors perform operations of:
- learning one or more movement primitives by recording both movement and force applications from human demonstration of a robot end effector, each movement primitive being a path command;
- converting the movement primitive representing both movement and force applications into a differential equation;
- receiving a selected task from a task file library, the selected task being associated with causing the robot end effector to perform an action with a particular item;
- transforming the selected task into a state machine;
- and
- executing the state machine and, in doing so, causing the robot end effector to perform the selected task.
Dependencies are inferred from the claim text.