Robotic accessory actuation

Abstract

In various embodiments, a removable attachment of a robot can allow for stable pitch and yaw while mitigating interference with other movements of the robot. The neck of the robot can include at least two linear actuators, each coupled to a rod that is driven to move linearly from the linear actuators. The attachment of the robot can be coupled to the neck. The attachment can include at least two tracks, each of which receives an end of a rod to slidably engage the rod.

Description

Background Art

[0001] Universal joints have been utilized in robots to actuate the pitch and yaw of accessories such as cameras, heads, etc. However, universal joint motors can be heavy. For example, the weight of a universal joint can often exceed 40 grams, which may not be ideal for smaller or lighter robot designs. The universal joint may also need to be placed directly at the location of movement (e.g., at the pivot point of the head, camera, etc.), which can place the entire mass of the heavy universal joint on the longest lever of the robot. This can cause the robot to be unbalanced and prone to tipping over. Further, the universal joint may require a large amount of empty space within the robot housing or shell in order to have enough room to actuate multiple axes. Accommodating this large amount of empty space can require a large amount of material for the robot housing and / or can prevent the universal joint from being utilized within the constraints of a smaller robot design. Summary of the Invention

[0002] Embodiments described herein relate to apparatus and methods for articulating an accessory (e.g., a removable accessory) to a robot to allow for stable pitch and yaw of the accessory while mitigating interference with other movements of the robot. For example, embodiments described herein enable actuation of the accessory without requiring an actuator to be positioned directly at the location of the movement, which can result in better stability of the robot (e.g., by enabling the actuator to be positioned closer to the center of mass of the robot). As another example, embodiments described herein provide for a lightweight and / or compact design for actuating the accessory, which can result in better stability of the robot and / or enable integration into a smaller and / or lighter weight robot. For example, embodiments can provide some or all of the degrees of freedom of movement of the accessory that would be provided if the accessory were controlled by a gimbal, but can be achieved using components that have a lower total weight than a gimbal, take up less total space than a gimbal, and / or can be positioned to mitigate any adverse effects on the center of mass of the robot (thereby promoting stability of the robot).

[0003] When a vision component (e.g., a camera) is provided on or incorporated as part of an accessory, some embodiments can provide an increase in the effective field of view (e.g., relative to a non-actuable accessory or a single-axis actuatable accessory) through controlled actuation of the accessory. For example, actuation of an accessory according to embodiments disclosed herein can allow for corresponding dynamic adjustments to the current field of view of the vision component, thereby increasing the effective field of view and enabling the robot to process images of a large area of ​​the robot's environment that are collectively captured, and to act upon such processing. For example, the increased effective field of view can allow the robot to selectively actuate the accessory so that areas at or near the robot's feet or wheels are selectively within the current field of view, areas above the robot are selectively within the field of view, and so forth.

[0004] Some embodiments can additionally or alternatively enable the robot to selectively actuate its accessory to provide corresponding visual feedback to a human user in the robot's environment, thereby enabling effective human-robot interaction. For example, the robot can signal to a nearby human user the robot's intention to move in a particular direction by providing a control command to an actuator to cause the accessory to rotate in a particular direction. As another example, the robot can signal to a nearby human user that the robot has recognized the human user's presence and / or understood a command specified by the human user by providing a control command to an actuator to cause the accessory to nod or shake.

[0005] The apparatus described herein for actuating the movement of an accessory (e.g., a head, tail, or other accessory) can include at least two linear actuators disposed in the neck of a robot (e.g., a neck extending from the main body of the robot). Each of the linear actuators can be coupled to a rod that connects the linear actuator at a first end of the rod to the accessory at a second end of the rod. In other words, each rod can be coupled to a corresponding linear actuator at the first end of the rod and to the accessory at the opposite second end of the rod. In some examples, one or both ends of each of the rods can be hemispherical ends, but the ends of the rods are not limited to this (i.e., non-hemispherical ends can instead be provided on the rods, such as pyramidal ends). The accessory can include a track that receives and slidably engages the second end of each of the rods. For example, the tracks can each be a channel, such as a "V" or "U" shaped channel, in which the second end of the rod can be positioned. In some embodiments, the second end of the rod can be configured so as to be captured by the track. For example, the second end can have a larger diameter than the main body of the rod. This configuration can allow the rods to maintain contact with the track as the orientation of the accessory changes. Simultaneously moving both rods inward (relative to the neck) or outward (relative to the neck) actuates pitch of the accessory; while moving one of the rods inward (relative to the neck) and the other rod outward (relative to the neck) at substantially equal rates actuates yaw. In the event that the rates of movement of one rod inward and one rod outward are unequal, both pitch and yaw are actuated. In such an embodiment, the degree of pitch corresponds to the degree of unequal movement. Further, in the event that only one rod is moved (inward or outward) while the other rod remains fixed, both yaw and pitch of the accessory are actuated. The movement of the rods is driven by a linear actuator.

[0006] In some embodiments, one or more levers can be used to connect the linear actuator to the rod. In many embodiments, the neck of the robot may be small and therefore have space constraints, and the use of a lever can allow the linear actuator to be placed out of alignment with the rod to utilize less space in the neck and / or make the neck shorter (i.e., the attachment is closer to the robot body). In some embodiments, a flexure can further connect the lever to the rod. The flexure can allow an additional range of flexure up and down when the lever is rotated (e.g., approximately 2 mm or other range). The specific flexure range provided by the flexure can vary based on the geometry and / or size of the flexure. In various embodiments, the flexure assembly itself can include a thin, flexible horizontal rod with two rigid springs (one located above the rod and one located below the rod). When the thin, flexible horizontal rod of the flexure has been flexed to its maximum value, these rigid springs can engage the rod to prevent it from further flexing and breaking.

[0007] In some embodiments, the neck can further include a fixed rod. Similar to the other rods described herein, the fixed rod can also have an end that can be located in the third angled track of the accessory. Unlike other rods, the fixed rod is not coupled to the linear actuator, but is fixed or anchored to the neck (e.g., by screws, etc.). When fixed or anchored to the neck, the fixed rod will slidably engage with the third angled track. In other embodiments, the neck can further include a third linear actuator and a third rod. In such an embodiment, the third linear actuator can drive the linear movement of the third rod, similar to the other rods described. Having a third linear actuator can increase the range of movement of the accessory and / or increase the granularity of control of the accessory.

[0008] The accessory can be coupled to the neck, for example, using one or more springs, rubber bands, and / or other biasing coupling components. When spring coupling is used, the springs can each be connected to the accessory at one end and to the neck at the other end. In some embodiments, the springs can be decoupled to allow the accessory to be detached from the neck. For example, coupling the accessory via a spring can allow for a more rigid and / or robust robot assembly. As an example, if an accessory of the robot is brought into contact with something in the environment, the springs can prevent the accessory from falling to the ground and / or allow it to flex from the neck without breaking or rupturing.

[0009] In some embodiments, the accessory can additionally include electrical connections that couple to corresponding electrical connections in the robot to power various electronics contained within the accessory. For example, the accessory can include a vision component and / or other sensors to facilitate control of the robot. The robot control system can receive various signals from the accessory's vision component and / or sensors to make determinations regarding the accessory's target location and / or the target path and / or trajectory of other components of the robot. For example, visual data from the accessory's vision component can be processed by the control system to determine a navigation path for the robot and / or the path of a robotic arm of other components of the robot. In some embodiments, it may be desirable to move the accessory to a specific location based on one or more signals received by the control system and / or one or more determinations made by the control system. Control of the linear actuator can enable movement of the rod to achieve that specific location. For example, in some embodiments, the robot control system can separately enable gaze control and pitch-yaw control of the accessory. Using gaze control, the robot control system and / or a user can specify a point in three-dimensional space; the robot control system can then translate that point in three-dimensional space into one or more locations of the rod and / or linear actuator to enable movement of the accessory to the specified point in space. As an example, before navigating the robot (e.g., via its wheels and / or feet), the robot control system can point the accessory toward the robot's wheels and / or feet to enable visual data to be captured (by the accessory's vision components) of the area near the wheels and / or feet, and the visual data to be processed to ensure the absence of obstacles. As another example, before navigating toward a location and / or moving the robot arm toward a location, the robot control system can point the accessory toward the location to enable visual data to be captured (by the accessory's vision components) of the location, and the visual data to be processed to determine the pose and / or other characteristics of any objects that may be present at the location. As another example, this can allow a user to specify a location at which the robot's head is to be positioned, and the control system can then drive the linear actuators and rods so that the robot can turn its head toward that location. Using pitch-yaw control, the user can specify a desired pitch and / or yaw of the accessory. The robot control system can then translate this specified pitch and / or yaw into one or more positions of the rods and linear actuators so that the accessory can be moved to the specified orientation.

[0010] The foregoing is provided as an overview of only some embodiments. Those and other embodiments are described in greater detail herein.

[0011] Other embodiments can include a non-transitory computer-readable storage medium storing instructions executable by a processor to perform a method, such as one or more of the methods described above. Still another embodiment can include a robot comprising one or more processors executing stored instructions (e.g., stored in a memory of the robot) that perform a method, such as one or more of the methods described above.

[0012] It should be appreciated that all combinations of the foregoing concepts and additional concepts described in greater detail herein are contemplated as being part of the subject matter disclosed herein. For example, all combinations of the claimed subject matter appearing at the end of this disclosure are contemplated as being part of the subject matter disclosed herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Depicted is a side view of a robot including an appendage, a neck, and a main body according to various embodiments described herein.

[0014] Figure 1A Depicted is a side view of a robotic assembly with an accessory in a first position, according to various embodiments described herein.

[0015] Figure 2 Depicts a device having an accessory in a second position according to various embodiments described herein. Figure 1 Top view of robot components.

[0016] Figure 3 Depicts a device with an accessory in a third position according to various embodiments described herein. Figure 1 A side view of the robot assembly.

[0017] Figure 4 Depicted is a side view of a robotic assembly with an accessory in a first position, according to various embodiments described herein.

[0018] Figure 5 An example architecture of a robot is schematically depicted.

[0019] Figure 6 An example architecture of a computer system is schematically depicted.

[0020] Figure 7 Depicted are example methods for performing the techniques described herein, in accordance with various implementations. DETAILED DESCRIPTION

[0021] Figure 1 、 1A2 and 3 illustrate exemplary robotic assemblies 100 that can be utilized to practice selected aspects of the present disclosure according to various embodiments. The robotic assemblies described herein can be incorporated into various forms of robots 10, including but not limited to telepresence robots, robotic arms, humanoid robots, animal robots (e.g., quadruped robots), insect robots, aquatic robots, wheeled robots, submersible robots, unmanned aerial vehicles ("UAVs"), etc. Additionally, these robotic forms include bipedal robots, quadrupedal robots, hexapod robots, etc.

[0022] exist Figure 1 In the example depicted in FIG, the robot 10 includes a robot assembly 100 that collectively includes a neck 102 and appendages 104 (e.g., a head, a tail, etc.). In most embodiments, the neck 102 can include a Figures 1A to 3 The housing 12 is shown by the dotted line in FIG. Figure 1 ). The housing can be constructed of any suitable material and can be designed to protect the internal components of the neck 102 (described herein) from the elements, impact, etc. Furthermore, in some embodiments, the shape and size of the neck 102 can be defined by the housing. In some embodiments, the robot can further include other components, including but not limited to the body 14, legs 16, arm attachments, etc.

[0023] The movement of the robot's appendage 104 is driven by at least a first linear actuator 106 and a second linear actuator 108 disposed within the neck 102. Each of the first linear actuator 106 and the second linear actuator 108 is coupled to a first rod 110 or a second rod 112, respectively. These rods 110, 112 are connected to the linear actuators 106, 108 at a first end 114 and to the appendage at a second end 116. The linear actuators 106 and 108 can be individually controlled to drive the linear movement of the rods 110, 112 in order to dynamically adjust the posture of the appendage 104 relative to the neck 102. For example, in the case where the rods 110, 112 are completely recessed into the neck 102, such as Figure 1 As shown in FIG, the accessory 104 is in a neutral position. In some embodiments, such as Figure 3 As shown in FIG, moving both rods 110, 112 inwardly at the same rate (relative to the neck) or moving both rods outwardly at the same rate (relative to the neck) simultaneously actuates the tilting of the attachment 104. In some of those embodiments, such as Figure 2As illustrated in , yaw is actuated by moving one of the rods 110 inward at the same rate (relative to the neck) and the other rod 112 outward at the same rate (relative to the neck). In the event that the rates of movement of one rod 110 inward and one rod 112 outward are unequal, both pitch and yaw are actuated. In such an embodiment, the rate of yaw can depend on the difference (e.g., the delta) between the rates of movement of the two rods 110, 112 and the direction of movement of the two rods 110, 112. Further, when only one of the rods 110 is moved (inward or outward) and the other rod 112 remains fixed, both yaw and tilt of the accessory are actuated. The rods 110, 112 can each optionally further include a hard stop that can prevent the coupled linear actuators 106, 108 from traveling outside of the intended range of motion. In some embodiments, such a hard stop can be in the form of a raised ridge surrounding the rods 110, 112 and can interact with a corresponding portion of the linear actuator to limit the range.

[0024] The attachment 104 can include a first track 120 and a second track 122 that receive and slidably engage the second end 116 of each of the rods 110 and 112. In some embodiments, the rods 110 and 122 can have a hemispherical end 118, but the rods are not limited thereto. For example, in some other embodiments, the rods 110 and 112 can each have at least one non-hemispherical end (e.g., at least the end that engages the track), such as a blunt or generally cubic end, a pyramidal end, a chamfered end, or other non-hemispherical end. The tracks 120 and 122 can be angled so as to receive the second ends 116 of the rods 110 and 112 and optionally hold them in place. In some embodiments, each can be, for example, a channel, such as a "V" or "U" shape, in which the second ends 118 of the rods 110 and 112 can be located. The configuration of the channels of the tracks 120, 122 and the hemispherical ends 118 of the rods 110, 112 can allow the rods to maintain contact with the tracks as the accessory 104 is moved and the orientation of the accessory changes. The angle at which the hemispherical ends 118 contact the tracks 120, 122 can vary as the rods 110, 112 move linearly, and the rods 110, 122 can slidably move within the tracks as the rods 110, 112 move linearly. As a non-limiting example, when the rods 110, 112 are fully extended (e.g., when the accessory is tilted downward), the angled tracks 120, 122 can maintain the hemispherical ends 118 within the tracks 120, 122. In some embodiments, the second ends 118 of the rods 110, 112 can be captured or locked into the tracks 120, 122. For example, the second ends can have a larger diameter or be wider than the body of the rod. In such an embodiment, the rods 110, 112 may, for example, have a "T" configuration such that the second ends of the rods 110, 110 are the top wider portion of the "T." In such an embodiment, the rods 110, 112 remain removable through one or both ends of the rails 120, 122.

[0025] When the linear actuators 106, 108 drive the movement of the rods 110, 112, the rods can slide in the tracks 120, 122 to facilitate the movement of the accessory 104. In some embodiments, such as Figures 1 to 3 As shown in FIG, the rails 120, 122 can be planar on the rear surface 124 of the accessory 104. In other embodiments, the rails 120, 122 can be disposed on separate planes. The positioning of the rails 120, 122 on the accessory 104 can vary. In some embodiments, such as Figures 1 to 3, the rails 120, 122 can be positioned at non-perpendicular angles relative to the top edge 125 of the accessory 104 and / or at non-parallel angles relative to each other. In some of those embodiments, the rails 120, 122 can be positioned at angles of 70 to 100 degrees relative to each other (i.e., in a common plane), such as 85 to 95 degrees relative to each other. The specific angles and positioning of the rails 120, 122 can depend on the desired range of motion of the accessory 104. In other embodiments, also as Figures 1 to 3 , the tracks 120, 122 can be disposed on a rear surface 124 of the accessory 104 such that they are mirror images of each other. The locations of the tracks 120, 122 are exemplary and should not be construed as limiting, as the positioning of the tracks 120, 122 on the accessory 104 can vary depending on the geometry of the accessory 104 and the desired range of motion. In some embodiments, the maximum range of motion of the accessory 104 can be approximately (e.g., + / - 10 degrees) 180 degrees in pitch and / or yaw directions. However, the range of motion achieved by the accessory 104 can vary based on the length of the tracks 120, 122, the stroke length of the linear actuators 106, 108, and / or the length of the rods 110, 112. In some embodiments, extending the stroke of the linear actuators 106, 108, increasing the length of the tracks 120, 122, and / or increasing the length of the rods 110, 112 can increase the range of motion achieved by the accessory 104.

[0026] In some embodiments, one or more levers 126 can be used to connect the linear actuators 106, 108 to the rods 110, 112. As previously mentioned, in many embodiments, the neck 102 of the robot can have spatial constraints. The use of levers 126 can allow the linear actuators 106, 108 to be placed out of alignment with the rods 110, 112 (e.g., Figures 1 to 3 ). The misaligned placement of the rods 110, 112 and the linear actuators 106, 108 utilizes less space in the neck and / or enables the neck to be shorter (i.e., the attachment is closer to the robot body). The lever 126 moves the rods 110, 112 and can amplify the displacement actuated by the linear actuators 106, 108. In such an embodiment, the first end 114 of the rods 110, 112 is coupled to the lever 126, and the lever 126 is then coupled to the linear actuators 106, 108. This configuration allows the linear actuators 106, 108 to drive the rotation of the lever 126 (see Figure 1 ), which drives linear movement (eg, extension or retraction) of the rods 110 , 112 .

[0027] In some embodiments, a flexure 130 can further connect the lever 126 to the rods 110, 112. The flexure 130 can allow additional movement or "flex" when the lever 126 is rotated upward or downward. As a non-limiting example, in some embodiments, the flexure 130 connecting the lever 126 to the rods 110, 112 allows an additional 2 mm of up and down flexure. However, this should not be construed as limiting, as the amount or degree of additional movement can vary based on the size of the flexure 130 and / or the lever 126. In some embodiments, the flexure 130 can include a thin, flexible horizontal rod 132, with a first rigid spring 134 positioned above the rod 132 and a second rigid spring 136 positioned below the rod 132. When the thin, flexible horizontal rod 132 of the flexure 130 has been flexed to its maximum value, the rigid springs 134, 136 engage the rod 132 to prevent it from further flexing and breaking. The rigid springs 134, 136 can be strong enough to allow force to be transferred back to the back-driven linear actuators 106, 108 when they are engaged. The geometry of the flexure 130 can vary; in particular, the length of the thin, flexible horizontal rod 132 can depend on the length and / or rotation distance of the lever 126. In addition to providing additional flexure, in some embodiments, the flexure 130 can also minimize vibrations within the neck 102. In some embodiments, a connecting rod or the like can be used as an alternative to the flexure 130.

[0028] In some embodiments, the neck 102 may additionally include a third bar that can provide additional stability to the accessory 104 and further define the range of motion of the accessory 104 (e.g., for tilting). Figures 1 to 3 As shown in FIG, the third rod may be a fixed rod 138; while in other examples, the third rod may be a movable rod 438 coupled to a third linear actuator 442, as shown in FIG. Figure 4In the case where the third rod is a fixed rod 138, the first end 140 of the fixed rod 138 can be fixed or anchored to the neck 102, for example, using a screw 142, an anchor, etc. The fixed rod 138, similar to rods 110 and 112, can have a hemispherical second end 144. The hemispherical second end 144 contacts a corresponding third track 146 on the accessory 104. Similar to the first and second tracks 120 and 122, the third track 146 is angled to receive and optionally retain the second end 144 of the third fixed rod 138. Like the first and second tracks 120 and 122, the angle of the third track 146 can be a "V" or "U" shape, within which the hemispherical end 144 of the fixed rod 138 is positioned. In some embodiments, all of the tracks 120, 122, and 138 can have the same shape, angle, and / or length. However, in other embodiments, the shapes, angles, and / or lengths of the tracks 120, 122, and 138 can vary. In some embodiments, such as Figures 1 to 3 , the third track 138 can be positioned along a substantially central axis that divides the accessory into two halves, e.g., extending from a top edge 125 to a bottom edge 127 of the accessory 104. In other words, in those embodiments, the third track 138 can be substantially perpendicular to the top edge 125, such as at an angle of 85 to 90 degrees relative to the top edge. In some of those embodiments, the third track 138 can be at an angle of approximately 35 to 55 degrees (e.g., approximately 45 degrees) relative to the tracks 120 and 122. Similar to the tracks 120, 122, the location of the third track 146 is exemplary and should not be construed as limiting, as it can vary depending on the geometry of the accessory 104 and the desired range of motion.

[0029] The attachment 104 can be coupled to the neck 102. In some embodiments, the coupling of the attachment 104 to the neck 102 is a removable coupling. In some of those embodiments, the removable coupling can be via a spring 156 (e.g., Figures 1 to 3 ), rubber bands and / or other coupling structures, thereby forcing the accessory 104 and the neck 102 into engagement with each other. In the case of coupling using a spring 156, the spring 156 can be connected to the accessory 104 at one end and to the neck 102 at the other end. In some embodiments, the neck 102 and the accessory can each further include a receiver 148, which is Figures 1 to 3shaped bracket. The spring 156 can further include a hook 150 (open or closed) that connects to a receiver 148 on each of the neck 102 and the accessory 104, thereby coupling the accessory 104 to the neck 102. In some embodiments, the spring 156 can be decoupled from the hook 150 on either (or both) the accessory 104 or the neck 104 to decouple the accessory 104 from the neck 102, which in various embodiments can also allow the accessory 104 to be separated from the neck 102. In some of those embodiments, such separation may be desirable in order to exchange an accessory and / or for easier storage and portability. The spring 156 can bias the accessory 104 toward the neck 102 such that the spring 156 pulls the accessory 104 toward a neutral position (see Figure 1 ). Additionally, the spring 156 can have an associated spring constant or stiffness constant K that is specific to the spring being used. A spring with a larger spring constant K requires more force to compress or expand than another spring with a smaller spring constant. The spring constant of the spring 156 can vary the force required to actuate movement of the accessory 104. For example, coupling the accessory 104 to the neck 102 via the spring 156 can allow for a more robust robotic assembly. As a non-limiting example, if the accessory 104 is brought into contact with something in the environment (e.g., a table, a wall, etc.), the spring 156 can prevent the accessory 104 from falling to the ground due to the impact.

[0030] Now refer to Figure 4 , another exemplary robotic assembly 400 is illustrated having an appendage 404 and a neck 402 . Figure 4 The embodiment shown in FIG. Figures 1 to 3 , except that the neck 402 includes a third movable rod 438 and a third linear actuator 442. The third movable rod 438 can be coupled to the third linear actuator 442 in the neck 402 at a first end 440. In some embodiments, such as Figure 4 As shown in FIG, the rod 438 can be directly coupled to the linear actuator 442 without a lever or flexure (eg, Figures 1 to 3 The diagram and reference Figures 1 to 3 This should not be construed as limiting, as in some instances, particularly where space constraints permit, the lever and / or flexure can be disposed between the linear actuator 442 and the rod 438, and in various embodiments can be configured as described with reference to FIG. Figures 1 to 3Similar to the rods previously described herein, the movable rod 438 can have a hemispherical second end (not shown) that contacts a corresponding third track 446 on the accessory 404. Similar to the first and second tracks previously described, the third track 446 is also angled to receive and optionally retain the second end of the movable rod 438. The third track 446 can also be "V" or "U" shaped, with the hemispherical end of the fixed rod 438 positioned therein.

[0031] Figure 5 An example architecture of an exemplary robot 520 is schematically depicted, which can be incorporated herein by reference. Figures 1 to 4 Features discussed. The robot 520 includes a robot control system 560, one or more operating components 540a to 540a (e.g., a neck, an appendage, etc.), and one or more sensors 542a to 542m. For example, the sensors 542a to 542m can include a vision component (e.g., a camera), a vision sensor, a light sensor, a pressure sensor, a pressure wave sensor (e.g., a microphone), a proximity sensor, an accelerometer, a gyroscope, a thermometer, a barometer, etc. Although the sensors 542a to 542m are depicted as being integrated with the robot 520, this should not be construed as limiting. In some embodiments, the sensors 542a to 542m can be located external to the robot 520, for example, as a standalone unit.

[0032] By way of example, one or more of the vision components 542a through 542m can include, for example, a monocular camera, a stereo camera (active or passive), and / or a light detection and ranging (LIDAR) component. The LIDAR component can generate visual data as a 3D point cloud, where each point in the 3D point cloud defines the location of a point on a surface in 3D space. A monocular camera can include a single sensor (e.g., a charge-coupled device (CCD)) and generate images based on physical properties sensed by the sensor, each image including multiple data points defining color values ​​and / or grayscale values. For example, a monocular camera can generate images including red, blue, and / or green channels. A stereo camera can include two or more sensors, each located at a different vantage point, and can optionally include a projector (e.g., an infrared projector). In some of those embodiments, the stereo camera generates images based on properties sensed by the two sensors (e.g., based on a projection captured from a projector), each image including multiple data points defining depth values ​​and color values ​​and / or grayscale values. For example, a stereo camera can generate images including a depth channel as well as red, blue, and / or green channels.

[0033] The operating assembly 540a to 540a can include, for example, a neck, attachments, and / or all associated components, such as a linear actuator, as described herein with reference to Figures 1 to 4As described. In other examples, the operating components 540a to 540a can include one or more end effectors and / or one or more servo motors or other actuators to achieve movement of one or more components of the robot. As used herein, in addition to any driver that can be associated with an actuator and converts a received control command into one or more signals for driving the actuator, the term actuator also covers mechanical or electrical devices (such as motors) that produce motion. Therefore, providing a control command to an actuator can include providing a control command to a driver that converts the control command into an appropriate signal for driving an electrical or mechanical device to produce the desired motion. Utilizing the linear actuator embodiment described herein, the linear movement of the rod is driven. However, in other embodiments, other actuators can be provided to drive the movement of other robot components such as robot wheels, legs, etc. Such other actuators can include linear actuators and / or other actuators (such as servo motors).

[0034] As a non-limiting example, the robotic control system 560 can receive various signals from one or more sensors 542a to 542m to make decisions regarding accessories (e.g., Figures 1 to 3 Annex 104 or Figure 4 The target position of the accessory 404 is determined by the linear actuator. In some embodiments, it may be desirable to move the accessory into a specific position based on a signal received by the control system 560. For example, if the accessory is a head, in some instances, it may be desirable to move the head toward a stimulus (e.g., a specific noise). Control of the linear actuator enables movement of the rod to achieve the target position.

[0035] The robotic control system 560 can be implemented in one or more processors, such as a CPU, GPU, and / or other controller of the robot 520. In some embodiments, the robot 520 can include a "brain box" that can include all or aspects of the control system 560. For example, the brain box can provide real-time data bursts to the operating components 540a to 540n, where each of the real-time bursts includes a set of one or more control commands that, among other things, specify motion parameters (if any) for each of the one or more operating components 540a to 540n (such as the linear actuator of the neck). In some embodiments, the robotic control system 560 can be used to implement the actions described herein.

[0036] As a non-limiting example, the robotic control system and / or the user can specify a point in three-dimensional space, and the robotic control system 560 can then convert that point in three-dimensional space into a rod (e.g., Figures 1 to 3 110, 112) and / or linear actuators (e.g. Figures 1 to 3, 106, 108) to allow the accessory to be moved to a specified point in space. As an example, before navigating the robot (e.g., via the wheels and / or its feet), the robot control system 560 can cause the accessory to be pointed toward the wheels and / or feet of the robot so that visual data can be captured (by the vision components of the accessory), the visual data capturing the area near the wheels and / or feet, and the visual data is processed to ensure that there are no obstacles. As another example, before navigating toward a location and / or moving the robot arm toward a location, the robot control system 560 causes the accessory to be pointed toward the location so that visual data can be captured (by the vision components of the accessory), the visual data capturing the location, and the visual data is processed to determine the pose and / or other characteristics of any objects that may be present at the location. As another example, a user can specify a location at which the robotic accessory is to be positioned, and the control system 560 can then drive a linear actuator (e.g., Figures 1 to 3 106, 108) and rods (e.g. Figures 1 to 3 110, 112) so that the robot can turn the accessory toward that location. As another example, the user can specify the desired pitch and / or yaw of the accessory, and the robot control system 560 can then translate that specified pitch and / or yaw into a stick (e.g. Figures 1 to 3 110, 112) and linear actuators (e.g. Figures 1 to 3 106, 108) one or more positions so that the accessory can be moved to a specified orientation. Although reference Figures 1 to 3 , but in the presence of a third linear actuator (e.g. Figure 4 442) and a third movable rod (eg Figure 4 438) can also be controlled similarly.

[0037] Although the control system 560 Figure 5 520, all or aspects of the control system 560 can be implemented in a component separate from but in communication with the robot 520. For example, all or aspects of the control system 560 can be implemented on one or more computing devices, such as the computing device 610, that are in wired and / or wireless communication with the robot 520.

[0038] Figure 66 is a block diagram of an example computing device 610 that can optionally be utilized to perform one or more aspects of the techniques described herein. The computing device 610 generally includes at least one processor 614 that communicates with a number of peripheral devices via a bus subsystem 612. These peripheral devices can include a storage subsystem 624 (including, for example, a memory subsystem 625 and a file storage subsystem 626), a user interface output device 620, a user interface input device 622, and a network interface subsystem 616. The input and output devices allow a user to interact with the computing device 610. The network interface subsystem 616 provides an interface to an external network and is coupled to corresponding interface devices in other computing devices.

[0039] The user interface input devices 622 can include a keyboard, a pointing device (such as a mouse, trackball, touchpad, or graphics tablet), a scanner, a touch screen incorporated into a display, an audio input device (such as a voice recognition system, a microphone), and / or other types of input devices. In general, the use of the term "input device" is intended to include all possible types of devices and ways of inputting information into the computing device 610 or over a communication network.

[0040] The user interface output devices 620 can include a display subsystem, a printer, a fax machine, or a non-visual display (such as an audio output device). The display subsystem can include a cathode ray tube (CRT), a flat panel device (such as a liquid crystal display (LCD)), a projection device, or some other mechanism for creating a visible image. The display subsystem can also provide a non-visual display, such as via an audio output device. In general, the use of the term "output device" is intended to include all possible types of devices and ways of outputting information from the computing device 610 to a user or to another machine or computing device. The storage subsystem 624 stores programming and data structures that provide the functionality of some or all of the modules described herein. For example, the storage subsystem 624 may include a computer program that executes the program. Figure 7 The logic of the selected aspects of the method.

[0041] These software modules are typically executed by processor 614 alone or in combination with other processors. The memory 625 used in the storage subsystem 624 can include several memories, including a main random access memory (RAM) 630 for storing instructions and data during program execution and a read-only memory (ROM) 632 in which fixed instructions are stored. The file storage subsystem 626 can provide permanent storage for program and data files and can include a hard drive, a floppy disk drive, a CD-ROM drive, an optical drive, or a removable media cartridge with associated removable media. Modules that implement the functionality of a particular embodiment can be stored by the file storage subsystem 626 in the storage subsystem 624, or in other machines accessible by the processor 614.

[0042] The bus subsystem 612 provides a mechanism for the various components and subsystems of the computing device 610 to communicate with each other as intended. Although the bus subsystem 612 is shown schematically as a single bus, alternative implementations of the bus subsystem can use multiple busses.

[0043] The computing device 610 can be of various types, including a workstation, server, computing cluster, blade server, server farm, or any other data processing system or computing device. Due to the ever-changing nature of computers and networks, Figure 6 The description of computing device 610 depicted in FIG is intended only as a specific example for purposes of illustrating some embodiments. Figure 6 Many other configurations of computing device 610 are possible with more or fewer components than the computing device depicted.

[0044] Now refer to Figure 7 , illustrates an example method 700 for moving an accessory of a robot. In various embodiments, the method 700 can be performed by a processor of the robot, such as a processor for implementing the robot 520 ( Figure 5 ) of the robot control system 560. Although the operations of method 700 are shown in a particular order, this is not meant to be limiting. One or more operations may be reordered, omitted, or added.

[0045] At block 702, a target pose for an accessory of the robot can be determined. In some embodiments, the target pose can be determined based on user input. For example, as previously described herein, a user can specify a point in three-dimensional space that will represent the target pose. As another example, a user can specify a desired pitch and / or yaw of the accessory, which will also represent the target pose of the accessory. In yet other embodiments, the target pose can be determined based on signals received by the robot control system from one or more sensors, vision components, etc. of the robot. For example, the target pose can be determined by the robot control system based on environmental characteristics, such as determined based on sensor data, and / or based on a task to be performed by the robot. For example, the task to be performed can include causing an "accessory" to nod, and the target pose can be one of a sequence of poses that is determined to cause the accessory to nod.

[0046] At block 704, a first linear actuator and / or a second linear actuator (e.g., Figures 1 to 3 The control of the linear actuators can effect movement of the rods to achieve the specific positioning, and thus, in some embodiments, the drive parameters can include information about the corresponding target positioning of each linear actuator and / or the corresponding stroke length of each linear actuator required to achieve the target posture of the accessory. For example, one or more rods can be moved as described herein to actuate tilt, pitch, and / or yaw to achieve the specific positioning. Furthermore, in embodiments where the specific positioning is a sequence of postures (e.g., causing the accessory to "nod" or "shake"), in addition to the positioning of the rods, the rate of change of the rods as they move can also be included in the drive parameters. At box 706, the first linear actuator and / or the second linear actuator are driven based on the drive parameters to achieve the specified target posture.

[0047] Optionally, at block 708, target positioning of the first and / or second rods is determined as part of the drive parameters determined at block 704. In some embodiments, the target positioning of the rods can also include information about the positioning of the lever (if present). In other embodiments, the target positioning of the rods can also include information about the rate of change between the rods.

[0048] At block 710 , the first linear actuator and / or the second linear actuator are driven to achieve a target position of the rod.

[0049] In some embodiments, method 700 can additionally include returning to box 702 to determine a second target pose based on signals from one or more visual components or sensors on the accessory. This second (or third, etc.) target pose can allow continuous actuation of the accessory. In various embodiments, the second target pose can be a response to a stimulus. As a non-limiting example, an audio sensor on the accessory sends a signal of a specific sound to the robot control system, which then determines the second target pose of the accessory in response to the signal. The second target pose can be that the accessory is turned toward the origin of the sound. In another non-limiting example, the second target pose can be a series of movements achieved by the accessory; for example, the target pose of an accessory in the form of a head can be that the robot shakes its head vertically in response to a stimulus to indicate "yes" or affirmative, or shakes its head horizontally to indicate a negative "no."

[0050] In some embodiments, a robotic assembly is provided, comprising: a neck having: a first linear actuator coupled to a first end of a first rod, wherein the first linear actuator linearly drives the first rod, and a second linear actuator coupled to a first end of a second rod, wherein the second linear actuator linearly drives the second rod; an attachment coupled to the neck, the attachment comprising: a first track, the first track receiving the second end of the first rod to slidably engage the first rod; and a second track, the second track receiving the second end of the second rod to slidably engage the second rod.

[0051] These and other implementations of the technology disclosed herein can include one or more of the following features.

[0052] In some embodiments, the neck further includes a third linear actuator coupled to the first end of the third rod, and wherein the accessory further includes a third track that receives the second end of the third rod to slidably engage the third rod. In other embodiments, the neck further includes a fixed rod having a first end and a second end, wherein the first end of the fixed rod is anchored to the neck and the second end is coupled to the accessory.

[0053] In some embodiments, the accessory is coupled to the neck by a spring; the spring includes a first spring end coupled to the accessory and a second spring end coupled to the neck. In some such embodiments, the accessory can be removed by decoupling the spring from the neck or the accessory.

[0054] In some embodiments, the accessory further includes an electrical connection sized and positioned to couple with a corresponding electrical connection on the robot.

[0055] In some embodiments, the accessory further includes one or more cameras or sensors that selectively transmit signals to at least a controller of the robot.

[0056] In some embodiments, the first and second rods move linearly to actuate the accessory; and a contact angle between one of the at least two tracks and the second end of the first or second rod varies based on the positioning of the accessory.

[0057] In some embodiments, the first linear actuator is coupled to the first end of the first rod via a lever. In some such embodiments, the first linear actuator is further coupled to the first end of the first rod via a flexure, the flexure connecting the lever to the first end of the first rod. In other such embodiments, extension of the first rod and the second rod is actuated by the lever.

[0058] In some embodiments, a robotic neck is provided, comprising: a first linear actuator coupled to a first end of a first rod; a second linear actuator coupled to a first end of a second rod; wherein the second end of the first rod and the second end of the second rod are sized and positioned to contact first and second tracks of an accessory so that the first and second rods can slidably engage corresponding tracks of the first and second tracks; and one or more structures sized and positioned to removably engage the links to couple the accessory to the neck.

[0059] These and other implementations of the technology disclosed herein can include one or more of the following features.

[0060] In some embodiments, the neck further includes a third linear actuator coupled to a first end of a third rod, wherein the third rod is sized and positioned to contact a third track of the accessory to slidably engage the third rod. In other embodiments, the neck further includes a securing rod having a first end and a second end, wherein the first end of the securing rod is anchored to the neck and the second end is sized and positioned to couple to the accessory.

[0061] In some embodiments, the first rod and the second rod move linearly to actuate the accessory. In some such embodiments, the first linear actuator is coupled to the first end of the first rod via a lever, and extension of the first rod is actuated by the lever. In various embodiments, the first linear actuator is further coupled to the first end of the first rod via a flexure, the flexure connecting the lever to the first end of the first rod.

[0062] In some embodiments, a robotic attachment is provided that includes a first track sized and positioned to slidably engage a second end of a first rod coupled to a first linear actuator; a second track sized and positioned to slidably engage a second end of a second rod coupled to a second linear actuator; and a link removably coupled to the attachment.

[0063] These and other implementations of the technology disclosed herein can include one or more of the following features.

[0064] In some embodiments, the accessory further includes an electrical connection sized and positioned to couple with a corresponding electrical connection on the robot.

[0065] In some other embodiments, the accessory further includes one or more cameras or sensors sized and positioned to transmit signals to a controller of the robot.

[0066] In some embodiments, a robot is provided, comprising: a body; a neck, the neck having: a first linear actuator coupled to a first end of a first rod, wherein the first linear actuator linearly drives the first rod, and a second linear actuator coupled to a first end of a second rod, wherein the second linear actuator linearly drives the second rod; an attachment, the attachment having: a first track, the first track receiving the second end of the first rod to slidably engage the first rod; a second track, the second track receiving the second end of the second rod to slidably engage the second rod; wherein the attachment is coupled to the neck; one or more processors, wherein the one or more processors execute instructions to: determine a target pose of the attachment; and convert the target pose into a first target position of the first rod and a second target position of the second rod; and provide control commands to drive the first linear actuator and the second linear actuator to achieve the first target position and the second target position.

[0067] In some embodiments, the robot further comprises one or more cameras or sensors that transmit signals to the robot control system, and wherein the robot control system determines the target pose of the accessory based on the signals received from the one or more cameras or sensors.

[0068] In some embodiments, a method for moving an accessory of a robot is provided, comprising: driving a first linear actuator on the neck of the robot to cause linear movement of a first rod, wherein the first rod is engaged by a first track provided on the accessory; and driving a second linear actuator on the neck of the robot to cause linear movement of a second rod, wherein the second rod is engaged by a second track provided on the accessory; wherein the linear movement of the first rod and the linear movement of the second rod cause an end of the first rod to slide within the first track and an end of the second rod to slide within the second track.

[0069] In some embodiments, the neck further comprises a third linear actuator, and the accessory further comprises a third track, the method further comprising driving linear movement of a third rod by the third linear actuator, wherein the third rod is engaged by a third track disposed on the accessory.

[0070] In some embodiments, the neck further comprises a securing rod having a first end and a second end, and the method further comprises: anchoring the first end of the securing rod to the neck; and coupling the second end of the securing rod to the accessory. In some such embodiments, the method further comprises decoupling the neck from the accessory.

[0071] In some embodiments, the method further includes: determining a target pose for the accessory; and determining one or more first drive parameters for a first linear actuator and one or more second drive parameters for a second linear actuator based on the target pose; wherein driving the first linear actuator is based on the first drive parameters, and wherein driving the second linear actuator is based on the second drive parameters. In some such embodiments, the one or more first drive parameters include a first target positioning of the first rod, and wherein the one or more second drive parameters include a second target positioning of the second rod; wherein driving the first linear actuator based on the first drive parameters includes driving the first linear actuator to the first target positioning; and wherein driving the second linear actuator based on the second drive parameters includes driving the second linear actuator to the second target positioning. In various other embodiments, the accessory further includes one or more cameras or sensors sized and positioned to transmit signals to the robotic control system, and the method further includes determining the second target pose based on the signals.

[0072] Although several embodiments have been described and illustrated herein, various other devices and / or structures for performing the functions and / or achieving one or more of the results and / or advantages described herein may be utilized, and each of such variations and / or modifications is considered to be within the scope of the embodiments described herein. More generally, all parameters, dimensions, materials, and configurations described herein are intended to be exemplary, and the actual parameters, dimensions, materials, and / or configurations will depend on the specific application or applications for which the teachings are used. Those skilled in the art will recognize, or be able to ascertain using only routine experimentation, many equivalents to the specific embodiments described herein. Therefore, it should be understood that the foregoing embodiments are presented by way of example only, and that within the scope of the appended claims and their equivalents, the embodiments may be practiced in ways different from those specifically described and claimed. Embodiments of the present disclosure relate to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods is included within the scope of the present disclosure, provided that such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent.

Claims

1. A robot assembly comprising: A neck portion, the neck portion comprising: a first linear actuator coupled to the first end of the first rod, wherein the first linear actuator linearly drives the first rod; a second linear actuator coupled to the first end of the second rod, wherein the second linear actuator linearly drives the second rod; an accessory coupled to the neck, the accessory comprising: a first channel that receives the second end of the first rod to slidably engage the first rod; and A second channel receives the second end of the second rod to slidably engage the second rod.

2. The robot assembly according to claim 1, wherein: The neck further includes a third linear actuator coupled to the first end of a third rod, and wherein the attachment further includes a third channel receiving the second end of the third rod to slidably engage the third rod.

3. The robotic assembly of claim 1, wherein: The neck further includes a securing rod having a first end and a second end, wherein the first end of the securing rod is anchored to the neck and the second end is coupled to the accessory.

4. The robotic assembly of claim 1, wherein: The accessory is coupled to the neck by a spring including a first spring end coupled to the accessory and a second spring end coupled to the neck.

5. The robotic assembly of claim 4, wherein: The accessory can be removed by decoupling the spring from the neck or the accessory.

6. The robotic assembly of claim 1, wherein: The accessory further includes an electrical connection sized and positioned to couple with a corresponding electrical connection on the robot.

7. The robotic assembly of claim 6, wherein: The accessory further includes one or more cameras or sensors that selectively transmit signals to at least a controller of the robot.

8. The robotic assembly of claim 1, wherein: The first and second rods move linearly to actuate the accessory, and wherein a contact angle between one of at least two channels and the second end of the first or second rod varies based on a positioning of the accessory.

9. The robotic assembly of claim 1 , wherein: The first linear actuator is coupled to the first end of the first rod via a lever.

10. The robotic assembly of claim 9, wherein: The first linear actuator is further coupled to the first end of the first rod via a flexure connecting the lever to the first end of the first rod.

11. The robotic assembly of claim 9, wherein: The extension or retraction of the first rod and the second rod is actuated by the lever.

12. A robot neck, comprising: a first linear actuator coupled to the first end of the first rod; a second linear actuator coupled to the first end of the second rod; wherein the second end of the first rod and the second end of the second rod are sized and positioned to contact the first and second channels of the accessory to slidably engage the first and second rods with respective ones of the first and second channels; as well as One or more structures are sized and positioned to removably engage the link to couple the accessory to the neck.

13. The robotic neck of claim 12, wherein: The neck further includes a third linear actuator coupled to the first end of a third rod, and wherein the third rod is sized and positioned to contact a third channel of the accessory to slidably engage the third rod.

14. The robotic neck of claim 12, wherein: The neck further includes a securing rod having a first end and a second end, wherein the first end of the securing rod is anchored to the neck and the second end is sized and positioned to couple to the accessory.

15. The robotic neck of claim 12, wherein: The first and second rods move linearly to actuate the accessory.

16. The robotic neck of claim 15, wherein: The first linear actuator is coupled to the first end of the first rod through a lever, and extension or retraction of the first rod is actuated by the lever.

17. The robotic neck of claim 16, wherein: The first linear actuator is further coupled to the first end of the first rod via a flexure connecting the lever to the first end of the first rod.

18. A robot accessory comprising: a first channel sized and positioned to slidably engage a second end of a first rod coupled to a first linear actuator; a second channel sized and positioned to slidably engage a second end of a second rod coupled to a second linear actuator; as well as A connecting rod is removably coupled to the accessory.

19. The robot attachment of claim 18, wherein: The attachment further includes an electrical connection sized and positioned to couple with a corresponding electrical connection on the robotic attachment.

20. The robot attachment of claim 18, wherein: The attachment further includes one or more cameras or sensors sized and positioned to transmit signals to a controller of the robotic attachment.

21. A robot comprising: main body; A neck portion, the neck portion comprising: a first linear actuator coupled to the first end of the first rod, wherein the first linear actuator linearly drives the first rod; a second linear actuator coupled to the first end of the second rod, wherein the second linear actuator linearly drives the second rod; Attachments, including: a first channel that receives the second end of the first rod to slidably engage the first rod; a second channel that receives the second end of the second rod to slidably engage the second rod; and wherein the attachment is coupled to the neck; One or more processors, wherein the one or more processors execute instructions to: determining a target pose for the accessory; and converting the target pose into a first target position of the first rod and a second target position of the second rod; and Control commands are provided to drive the first linear actuator and the second linear actuator to the first target position and the second target position.

22. The robot according to claim 21, wherein The robot further comprises one or more cameras or sensors that transmit signals to a robot control system, and wherein the robot control system determines the target pose of the accessory based on the signals received from the one or more cameras or sensors.

23. A method of moving an accessory of a robot, the method comprising: driving a first linear actuator of the neck of the robot to cause linear movement of a first rod, wherein the first rod is engaged by a first channel provided on the appendage; and driving a second linear actuator of the neck of the robot to cause linear movement of a second rod, wherein the second rod is engaged by a second channel provided on the appendage; The linear movement of the first rod and the linear movement of the second rod cause the end of the first rod to slide in the first channel and the end of the second rod to slide in the second channel.

24. The method according to claim 23, wherein The neck further includes a third linear actuator, and the accessory further includes a third channel, the method further including driving linear movement of a third rod by the third linear actuator, wherein the third rod is engaged by a third channel disposed on the accessory.

25. The method according to claim 23, wherein The neck further comprises a securing rod having a first end and a second end, and the method further comprises: anchoring the first end of the fixation rod to the neck; and The second end of the securing rod is coupled to the accessory.

26. The method of claim 25, further comprising decoupling the neck from the attachment.

27. The method of claim 23, further comprising: determining a target pose for the accessory; as well as determining one or more first drive parameters for the first linear actuator and one or more second drive parameters for the second linear actuator based on the target pose; wherein driving the first linear actuator is based on the one or more first driving parameters, and Wherein, driving the second linear actuator is based on the one or more second driving parameters.

28. The method according to claim 27, in, The one or more first drive parameters include a first target position of the first shaft, and wherein the one or more second drive parameters include a second target position of the second shaft; wherein driving the first linear actuator based on the one or more first drive parameters comprises driving the first linear actuator to the first target position; and Wherein driving the second linear actuator based on the one or more second drive parameters includes driving the second linear actuator to the second target position.

29. The method according to claim 27, wherein The accessory further includes one or more cameras or sensors sized and positioned to transmit signals to the robotic control system, the method further including determining a second target pose based on the signals.

Images