Method for tele-robotic operations over time-delayed communication links

A computer-implemented method for tele-robotic operations, comprising:

• an act of causing a data processor to execute instructions stored on a non-transitory memory such that upon execution, the data processor performs operations of:
• acquiring sensor data from at least one sensor for sensing surroundings of a robot having at least one robotic arm for manipulating an object;
• generating a three-dimensional model of the sensed surroundings and fitting the sensor data to the three-dimensional model;
• using the three-dimensional model to generate a movement path for the at least one robotic arm;
• generating a flow field representing the movement path;
• using the flow field in a simulation to provide force feedback to a user through a haptic device, wherein the flow field comprises a set of parameters;
• and
• following the simulation, transmitting the set of parameters used in the simulation to the robot, wherein the set of parameters define the flow field, and wherein the flow field is used to execute a movement of the at least one robotic arm for manipulating the object,
• wherein the flow field is updated in real-time according to the sensor data.

A computer program product for tele-robotic operations, the computer program product comprising computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:

• acquiring sensor data from at least one sensor for sensing surroundings of a robot having at least one robotic arm for manipulating an object;
• generating a three-dimensional model of the sensed surroundings and fitting the sensor data to the three-dimensional model;
• using the three-dimensional model to generate a movement path for the at least one robotic arm;
• generating a flow field representing the movement path;
• using the flow field in a simulation to provide force feedback to a user through a haptic device, wherein the flow field comprises a set of parameters;
• and
• following the simulation, transmitting the set of parameters used in the simulation to the robot, wherein the set of parameters define the flow field, and wherein the flow field is used to execute a movement of the at least one robotic arm for manipulating the object,
• wherein the flow field is updated in real-time according to the sensor data.