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Specialized robot motion planning hardware and methods of making and using same

A robot and computer technology, applied in the field of special robot motion planning hardware and its manufacture and use, to achieve the effect of low cost and low power

Active Publication Date: 2017-09-26
DUKE UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The described hardware can address the challenges of real-time motion planning

Method used

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  • Specialized robot motion planning hardware and methods of making and using same
  • Specialized robot motion planning hardware and methods of making and using same
  • Specialized robot motion planning hardware and methods of making and using same

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Embodiment

[0069] The motion planning processor is designed for Kinova's 6-degree JACO-2 arm. The robot's sensor system involves multiple Kinect-2 modules for visualization of the environment. For the example implementation, the motion planning processor is specifically designed to be controlled and connected to the robot through the robot's I / O ports. The Robot Operating System (ROS) software ecosystem from the Open Robotics Foundation is used to control the robot and interface with the motion planning processor. The ROS ecosystem is used to interpret objects in the environment from the output of the Kinect-2 module and to pass signals generated by the ROS software running on the robot to the motion planning processor.

[0070] Through local and / or global optimizations (e.g. about Figure 4 described), it was found that on the order of 5000 collision detection cells can be accommodated in high-capacity FPGAs. In addition, 3D points (obstacles identified) acquired directly from the Ki...

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Abstract

Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of the PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.

Description

[0001] Cross References to Related Applications [0002] This application claims priority to US Provisional Patent Application Serial No. 62 / 107,755, filed January 26, 2015, the entire contents of which are incorporated herein by reference, including any figures, tables, and drawings. Background technique [0003] Many of today's most exciting computer applications are robotics. Recent advances in robotics have greatly expanded the opportunities for robots to change the way people live. Robots are being developed for a wide range of real-world applications, including healthcare, personal assistance, general manufacturing, search and rescue, and military operations. These applications require the robot to perform motion planning, unlike traditional robotics applications where the robot operates in a tightly controlled environment (such as an assembly line where the environment is stationary and known a priori). [0004] Motion planning is the process of determining how a robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCG05B2219/40429G05B2219/40476B25J9/1666Y10S901/02Y10S901/49G05B2219/40317G05B2219/40448G05B2219/40446G06N7/01
Inventor 乔治·D·康尼达里斯丹尼尔·J·索林
Owner DUKE UNIV
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