Smart Control Systems for Robotic Devices

Abstract

A robotic device is disclosed that can have multiple non-dedicated smart control devices. Each smart control device can provide smart functionality for controlling operational functions of the robotic device. Additionally, a robotic system is disclosed that can include a robotic device having a non-dedicated local smart control device that provides smart functionality for controlling operational functions of the robotic device. The robotic device can also include a remote control device for communicating operational information with the local smart control device to facilitate user control of the robotic device.

Description

[Background technology]

[0001] Robotics is an active research field, and many different types of robotic vehicles have been developed for a variety of tasks. For example, unmanned aerial vehicles have had considerable success in military aerial reconnaissance. However, unmanned ground vehicles have had less success, in part because ground environments are significantly more difficult to traverse than aerial environments.

[0002] Unmanned ground vehicles face many challenges when attempting mobility. Terrain can vary widely, for example, with loose and shifting materials, obstacles, vegetation, openings of limited width or height, steps, etc. Vehicles optimized for operation in one environment may perform poorly in others.

[0003] There are also trade-offs associated with the size of the vehicle. Larger vehicles can handle some obstacles better, including, for example, steps, drops, and gaps. On the other hand, larger vehicles cannot easily fit through narrow passages or crawl inside pipes, and are more likely to be blocked by vegetation. Larger vehicles also tend to be easier to spot, and therefore may be less desirable for discrete surveillance applications. In contrast, smaller vehicles are more discrete, but surmounting obstacles presents a greater navigation challenge.

[0004] A variety of mobility configurations have been adapted to traverse difficult terrain. These options include legs, wheels, and tracks. Legged robots are agile but can use complex control mechanisms to move and achieve stability. Wheeled vehicles can offer high mobility but have limited traction and require width to achieve stability.

[0005] To operate and control the various functions of these various robotic devices, such as the drive system, any sensor system, any processing system, or any other type of on-board system, the robotic platform on which they are built includes dedicated systems that are fully integrated into the design and construction of the robotic device. These dedicated systems include individual components that are specifically configured for use within each robotic device. In other words, these dedicated systems are part of the design of the robotic device itself. They are integrated, built-in components that are not replaceable, modular, or intended to operate as stand-alone electronic devices, nor are they self-contained (including their own chassis, framework, etc.) or removable relative to the robotic device. [Brief description of the drawings]

[0006] Features and advantages of the invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the invention. [Figure 1] FIG. 1 is a schematic diagram of a robotic system according to an example of the present disclosure. [Diagram 2] FIG. 1 is a schematic diagram of a robotic system according to another example of the present disclosure. [Diagram 3] FIG. 13 is a schematic diagram of a robotic system according to yet another example of the present disclosure.

[0007] Reference will now be made to the exemplary embodiments illustrated in the drawings, and specific language will be used herein to describe the same, it being understood nevertheless that no limitation of the scope of the invention is intended thereby. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] An initial overview of technical embodiments is provided below, and then specific technical embodiments are described in more detail later. This initial overview is intended to help the reader understand the technology more quickly, and is not intended to identify key or essential features of the technology, nor is it intended to limit the scope of the claimed subject matter.

[0009] Various robotic devices are known and have traditionally been configured with dedicated on-board control systems for controlling both the robotic device and various internal and external sensors. Such dedicated control systems can be complex, costly, and difficult to reconfigure when modifications to the system are desired. For example, adding an external sensor may require reconfiguration of the dedicated control system. Disclosed are robotic devices and robotic systems that include non-dedicated smart control devices that can be associated and allow for a high degree of customization. Note that the scope includes any type of robotic system or device.

[0010] In one embodiment, for example, a robotic device is disclosed that can have multiple non-dedicated smart control devices, each of which can provide smart functionality for controlling operational functions of the robotic device.

[0011] Also disclosed is a robotic system that can include a robotic device having a local non-dedicated, smart control device that provides smart functionality for controlling operational functions of the robotic device. The robotic system can also include a remote control device for communicating operational information with the local smart control device to facilitate user control of the robotic device.

[0012] 1 illustrates a robotic system 100 according to an example of the present disclosure. The robotic system 100 can include a robotic device 101 and a remote control device 102. The robotic device 101 can have a non-dedicated local smart control device 110 that can provide smart functionality for controlling operational functions of the robotic device similar to that disclosed in U.S. Patent No. 9,031,698, which is incorporated herein by reference in its entirety. The remote control device 102 can communicate operational information with the local smart control device to facilitate user control of the robotic device 101.

[0013] The robotic device 101 may include a communication subsystem 120 functionally or operably coupled or interfaced (e.g., electrically coupled or communicating, mechanically coupled, or both) to the local smart control device 110 to facilitate control by the local smart control device 110 of one or more operation subsystems of the robotic device, such as the sensor subsystem 122, the motion subsystem (e.g., the drive subsystem 124 or the attitude control subsystem 126), the local control subsystem (e.g., the local or degree of freedom (DOF) control subsystem 125). The communication subsystem 120 may include any communication medium capable of controlling the robotic device 101. Non-limiting examples of such communication media may include electrical coupling, optical coupling, wireless coupling, Bluetooth coupling, and the like, and combinations thereof. As such, the type of communication medium may determine the structure of the communication subsystem itself. For example, a communication subsystem utilizing electrical coupling may include wired connections from various components of the robotic device. On the other hand, a communication subsystem utilizing wireless communication may include a series of transmitters and receivers coupling the smart control device to various subsystems.

[0014] While FIG. 1 is a schematic diagram, it should be appreciated that a non-dedicated smart control device 110 may be removably supported around structural components of the robotic device 101. In one aspect, the smart control device 110 may be configured to initiate and control operational functionality within the robotic device 101 when physically connected to the robotic device 101. The communication subsystem 120 may facilitate control by the smart control device 110 of one or more subsystems of the robotic device 101 (when connected). It is important to note that the smart control device 110 is not merely a remote control for the robotic device 101, but rather a computational device resident on and operable with the device 101 that can execute commands, collect and process data, make some level of programmed decision-making, etc., as described further below.

[0015] For example, the smart control device 110 can control one or more operational functions of the robotic device 101, such as controlling the movement or attitude of the robotic device 101 or controlling a sensor of the robotic device 101. The smart control device 110 can control the movement or attitude of the robotic device 101 through the actuation of the drive subsystem 124 or the actuation of the attitude control subsystem 126. Information from one or more sensors 123 of the sensor subsystem 122 or information from one or more sensors 111 of the smart control device 110 can be used to determine the movement or attitude of the robotic device 101. The operation of the sensors 111, 123 can be controlled by the smart control device 110. The smart control device 110 also includes a high-level function module 112 that can provide functions such as localization and mapping, path re-tracking, etc., as discussed in more detail below. The communication subsystem 120 can be functionally coupled to the drive subsystem 124, the local control subsystem 125, the attitude control subsystem 126, or the sensor subsystem 122. The communication subsystem 120 is also operatively coupled to the smart control device 110. The smart control device 110 can perform sensing, data processing, logic processing, command execution, and other functions germane to robotics, to control the movement or attitude of the robotic device 101. Commands from the smart control device 110 can be delivered to the drive subsystem 124, the local control subsystem 125, the attitude control subsystem 126, the sensor subsystem 122, or any other system or subsystem of the robotic device 101, to control the motion, control, movement, or positioning of the robotic device 101. Similarly, feedback communications (e.g., from position or motion sensors) from the drive subsystem 124, the local control subsystem 125, the attitude control subsystem 126, the sensor subsystem 122, or any other system or subsystem of the robotic device 101 can be delivered to the smart control device 110 via the communication subsystem 120.The sensors 111 of the smart control device 110 can also provide feedback. Thus, the smart control device 110 can communicate with each component of the robotic device 101 via the communication subsystem 120, where applicable, to facilitate the selective or simultaneous actuation of any portion of the drive subsystem 124, the local control subsystem 125, the attitude control subsystem 126, the deployment and operation of sensors, or the control and operation of any other functionality of the robotic device 101.

[0016] As described herein, robotic devices according to aspects of the present disclosure may be designed such that logic processing, command execution, data processing, sensing, or any other "smart" functionality is not an integral part of the construction of the robotic device, but rather is performed on a non-dedicated smart control device operable to be mechanically and electrically coupled to the robotic device (i.e., supported by or about the robotic device and operable to interface with one or more systems or subsystems of the robotic device), and is often removable. In this disclosure, the term non-dedicated refers to a smart control device capable of operating as a standalone electronic device that is removable with respect to the robotic device. By operating the smart control device with the robotic device, the "smart" functionality may be performed on the smart control device, as opposed to a dedicated system, such as one that is not a standalone device or is not fully integrated into (and perhaps not removable from) the robotic device. In other words, the dedicated control, sensing, and processing operations (i.e., "smart" functionality) previously performed by the robotic device may now be more efficiently performed on the smart control device, and a significant amount, if not all, of the "smart" functionality of various integrated systems is packaged within the smart control device. This provides various advantages. Thus, for example, a damaged smart control device can be easily removed and replaced without significant downtime for diagnostic and repair procedures, and the smart control device can also be removed from the robotic device to facilitate reprogramming, data manipulation, etc. In another aspect, a single smart control device can be interchangeable and used in multiple different robotic devices. It is noted that non-dedicated smart control devices can include existing types of devices (e.g., smartphones, tablet computers, or other portable or mobile personal computing devices) that are programmable with software adapted for use with a robotic device.Additionally, the smart control device may include a self-contained device independent of the robotic device that is configured to support at least some, if not all, of the components required to facilitate "smart" functionality within the robotic device. In other words, the smart control device may itself include a housing, framework, or chassis having all of the internal logic, circuitry, and other components required to provide "smart" functionality within the robotic device, which is capable of interfacing mechanically, electrically, and in any other manner with the robotic device 101 (e.g., via a communication subsystem) to enable the smart control device to operate, activate, control, communicate, etc. with the robotic device 101, its systems and subsystems, and possibly remote control devices.

[0017] The functionality of the smart control device 110 may extend far beyond controlling the movement and attitude of the robotic device 101 it controls. For example, the smart control device 110 (e.g., high-level functional module 112), when used in conjunction with other sensors (e.g., IMU, camera, RGBD camera, LIDAR, GPS module, etc.), can be used to implement and perform high-level functions such as location and mapping (e.g., using cameras and IMUs) of the environment in which the robotic device is used. In another example, the smart control device 110, high-level functional module 112 can enable a variety of behaviors such as self-stabilization, target identification, target following, path recording, path re-tracking and following predefined paths, detection and identification of objects, terrain and environmental features, animals and people, and detection, avoidance and / or overcoming of obstacles (including behavior development through trial and error combined with machine learning algorithms). In yet another example, the smart control device 110 can respond to robot internal and environmental monitoring sensor inputs (e.g., map and move along a chemical concentration gradient towards its source, identify hot spots, etc.). In addition, the smart control device 110 may implement (e.g., via the high-level functional module 112) any other behavior aimed at dealing with uncertainties in the environment.

[0018] A variety of smart control devices are contemplated, and any such device capable of controlling a robotic device is considered within the scope of the present invention. In general, the smart control device may include one or more sensors and have the ability to process data and provide communication (e.g., one-way, two-way, Bluetooth-based, RF-based, light-based). The smart control device sensors may include a camera, a microphone, an accelerometer, a gyroscope, a gravity sensor, a compass, a barometer, a proximity sensor, a temperature sensor, a relative humidity sensor, a light sensor, a magnetic field sensor, an orientation sensor, or any other suitable sensor that may be incorporated into a smart device. Non-limiting examples of smart control devices may include cellular devices, wireless network devices, Bluetooth devices, and the like, and combinations thereof. In one aspect, the smart control device may be an existing device such as a mobile phone with on-board computing and processing capabilities and sensors, such as a smartphone. In other aspects, the smart control device may be a tablet computer, a laptop computer, a wearable computing device, or again, any other portable or mobile computing device. Many smartphones, tablet computers, wearable computing devices, and laptop computers contain sufficient computational resources, sensors, and other "smart" capabilities capable of controlling and interfacing with a robotic device, including drive subsystem movement, linkage subsystem movement, sensing and sensor data processing, data processing, video, audio, etc. Thus, when interfaced with a robotic device's systems, the smart control device can enhance the functionality of the robotic device without the need for complex integrated, dedicated control and processing systems.

[0019] Additionally, in some embodiments, the smart control device 110 can provide enhanced functionality to the robotic device 101. Such functionality is limited only by the capabilities of the particular smart control device being used. For example, the use of a smartphone allows functionality available to or on the smartphone to be utilized for the control and operation of the robotic device 101. For example, the smartphone can provide wireless communication to the device, wireless communication outside of the device, GPS data, accelerometer data, vibration detection, user interface, camera or video functionality, audio input, audio output, sensor processing, navigation, control, and the like, and combinations thereof. Additionally, applications can be created for the smartphone that enhance the functionality of the device. Such applications can be highly dynamic in nature and can be updated directly to the smartphone without the need for disconnection or rebooting. Thus, the smartphone can provide functionality similar to a dedicated control system at a fraction of the cost with enhanced dynamic reconfiguration capabilities and can provide built-in communication with the user over wireless networks such as cellular, Bluetooth, or Wi-Fi networks, to name a few.

[0020] As has been described, the smart control device 110 can be any device with sufficient on-board resources, capabilities, and components (e.g., computational resources and components, sensors, etc.) to control a robotic device according to aspects of the present disclosure. In some cases, the smart control device 110 can be self-contained, portable, and can allow for separate and independent user interaction from the robotic device. Thus, the robotic device 101 can be left in one environment while changes are made to the smart control device 110 in another environment. The smart control device 110 can also be considered to be a general-purpose communication device with its own form factor. Utilizing such a device with built-in communication capabilities can greatly simplify the design and cost of the robotic device. Additionally, as technology improves and new devices become commercially available, the smart control device 110 can be disposed of and replaced with another unit at relatively low cost and effort, including being replaced with another smart control device with improved size, weight, and power, and computation (SWaP-C) capabilities, including being replaced with another smart control device with improved size, weight, and power, and computation (SWaP-C) capabilities.

[0021] As mentioned above, the smart control device 110 can control the sensors of the robotic device 101. This includes controlling the sensors 123 of the sensor subsystem 122 and the sensors 111 of the smart control device 110. The sensors 123 can represent external data collection devices. The communication subsystem 120 can provide communication between the smart control device 110 and any such external data collection devices. Such auxiliary external data collection devices can be devices or systems utilized to collect data from or otherwise manipulate an environment external to the device. Non-limiting examples of such include any suitable sensor (e.g., optical sensors or cameras, RGBD cameras, RFID readers, gas analyzers, spectrometers (e.g., chemical spectrometers, spectrometers operating in different portions of the electromagnetic spectrum such as visible light, infrared, x-rays, and gamma rays, etc.), vibration sensors, accelerometers, barometers, pressure sensors, inertial sensors, gyroscopes, compasses, magnetometers, explosives detectors, radioisotope sensors, alpha and beta particle sensors, neutron detectors, RF detectors, electromagnetic radiation sensors, physiological sensors, LIDAR, stereo cameras, thermal sensors, IR imagers, acoustic sensors, strain sensors, load sensors, speed sensors, , sound triangulation and position sensors, electric field sensors), measurement devices or systems, inspection devices or systems, mass spectrometers, ion mobility sensors, chemiluminescence sensors, electron capture detection devices, electrochemical analyzers, specialty gas sensors (spectroscopy-methane, propane, ammonia, CO, smoke, etc.), surface acoustic wave sensors, tactile whiskers, radiation detectors, metal detectors, other detector types, magnetometers, inertial measurement units, non-destructive testing methods (X-ray, dye penetrant, ultrasonic, eddy current, magnetic particle, interferometry), etc., as well as associated applications for handling the processing, storage and real-time or eventual communication and use of results. Cameras can sense certain portions of the EM spectrum. In some aspects, the external data collection device can be an additional non-dedicated smart control device, such as, for example, a smartphone.

[0022] In one embodiment, the smart control device 110 may be integrated into the robotic device 101 to enable the device to operate autonomously, possibly for extended periods of time. In one example, the high-level functional module 112 may implement various motion primitives and / or higher level behaviors (e.g., simultaneous localization and mapping, path following and path re-tracking, target identification and following, object avoidance, obstacle detection and overcoming behaviors, machine learning enabled behaviors, etc.) that may be pre-programmed into the smart control device 110, including, for example, primitives for assuming specific poses and primitives for motions (e.g., forward, backward). The control may include feedback from force sensors (e.g., at the joints of the robotic device 101) and environmental sensors (e.g., moving to follow an increasing chemical concentration gradient, moving towards a temperature hot zone, moving towards a gamma radiation zone, etc.). In this manner, a hybrid combination of human and automated control may be possible, enabling behaviors that require the coordinated action of multiple smart control devices equipped with the robotic device. For example, high-level manual commands / primitives may be implemented using automated low-level feedback loops that execute the commands / primitives. Control functions may be divided into subsystems including, for example, attitude control, compliance control, movement control, force control, and hybrid combinations thereof. In one aspect, the local control subsystem 125 may be operable to implement behavior at the joint level (e.g., controlling compliance, enabling fail-safe modes of operation, etc.).

[0023] In addition to controlling functionality, the smart control device 110 can provide benefits due to its removable from the robotic device 101. For example, upgrades, programming modifications, etc. can be accomplished on the smart control device 110 away from the robotic device 101, and the smart control device 110 can be physically or electrically (including wirelessly) coupled to the robotic device 101. Thus, the smart control device 110 can be "plug and play" and thus provide functionality to the robotic device 101 when connected.

[0024] Additionally, data collected by the sensors 123, 111, or other devices on the robotic device 101 may be stored and processed on the smart control device 110. Data may be removed from the robotic device 101 by simply removing the smart control device 110 on which the data resides. Additionally, data may be transmitted from the smart control device 110 to a remote location over a medium such as a cellular network, a computer network (e.g., via LAN, Internet, Wi-Fi, etc.), a peer-to-peer network (e.g., via Bluetooth), or any other suitable wireless network. For those embodiments utilizing a cellular device such as a smartphone, the cellular functionality may already reside on the smartphone and be readily utilized for communication to and from the smartphone. Thus, the smart control device 110 may facilitate connection to the Internet 130 or other networks, which may allow the smart control device 110 to share processor computation tasks with other computational assets on the network, such as the remote processor 131, and / or another smart control device.

[0025] The remote control device 102 may be operable to wirelessly communicate with the smart control device 110 of the robotic device 101 to facilitate remote control and access of the robotic device 101 by a user. The remote control device 102 may function as a user interface to allow a user to provide control instructions to the smart control device 110 over a wireless communication medium, such as a cellular network, a computer network (e.g., via LAN, Internet, Wi-Fi, etc.), a peer-to-peer network (e.g., via Bluetooth), or any other suitable wireless network. Thus, a user may provide communication to the smart control device 110 via the remote control device 102 to control the robotic device 101. Data from various sensors 123 on the robotic device 101 or sensors 111 of the smart control device 110 may be further transmitted by the smart control device 110 to the remote control device 102. Thus, data from the sensors, video or audio from the integrated hardware of the smart control device 110, etc. may be communicated to a user, where further control commands may be delivered. By communicating with the remote control device 102, the smart control device 110 can share processor computation tasks with the remote control device 102, which may include a processor or other such computational assets, or communicate with another smart control device. It should be noted that the wireless communication medium may include any known wireless communication medium, including, but not limited to, cellular communication, Wi-Fi communication, Bluetooth communication, and the like, and combinations thereof. The remote control device 102 or the smart control device 110 may be operable to encrypt and decrypt data to provide secure communication.

[0026] The remote control device 102 may include any suitable device capable of sending and receiving commands to and from a smart control device. Non-limiting examples of such remote control devices may include mobile phones, smartphones, tablet devices, laptop computers, desktop computers, and the like. In one embodiment, the remote control device 102 may include a non-dedicated smart control device as described herein that may provide smart functionality to facilitate user control of the robotic device 101. Thus, one non-dedicated smart control device (e.g., the remote control device 102) may be used to control a robotic device 101 equipped with another non-dedicated smart control device 110.

[0027] As a communication interface, the remote control device 102 may be configured to display information related to the control or operation of the robotic device 101. Such information may be displayed in any suitable manner, such as visually, audibly, or tactilely. For example, the remote control device 102 may be operable to display a video of an image captured by the robotic device 101 or to play audio. The visual display may be in numerical or graphical form, for example. The remote control device 102 may display information related to the position or force data of the joints of the robotic device 101, such as by generating vibrations. In one aspect, the remote control device 102 may be operable to display sensor data from the robotic device 101, such as data collected by the sensor 123 or the sensor 111. In another aspect, the remote control device 102 may be operable to display commands given by an operator or user. In addition, the remote control device 102 may be operable to display feedback from the robotic device 101 to the operator regarding the actual state of the robotic device 101, such as position or force information of one or more degrees of freedom of the robotic device 101. The remote control device 102 may also be operable to provide a comparison of commands given by an operator compared to feedback from the robotic device 101.

[0028] Additionally, in some embodiments, the remote control device 102 may include or comprise a master control device, such as a replica or other type of master, for control of the robotic device 101. In a replica master control system, the replica master is located remotely from the robotic device 101. The replica master may include the same joints as the robotic device 101 and may be manually manipulated to a desired pose. Sensors located at the joints sense the positions of the joints, and these positions are communicated to the smart control device 110 on the robotic device 101 to actuate the pose control subsystem 126, the local control subsystem 125, or the drive subsystem 124 to attempt to establish the same pose. Optionally, the joints in the linkage subsystem may include force sensors, torque sensors, or both, allowing for measuring the forces or torques on the joints. The joint forces or torques may optionally be communicated back to the replica master to provide force feedback to the control system. Various force feedback control systems are known that may be applied to the embodiments of the present disclosure.

[0029] The remote control device 102 may include any suitable master controller or other device for remotely controlling the robotic device 101. For example, the remote control device 102 may include a replica master controller as described above, a video game controller, a video game interface device, a master controller wearable by an operator, a master controller that measures one or more joint positions of the operator, a master controller that measures forces generated at one or more joints of the operator, a master controller that measures at least one of position information and force information and translates the information as a set of commands to the robotic device, a translation master controller in which human kinematics are translated into kinematics of the robotic device 101 (with or without constraints that may be required to compensate for information that may be missing in a kinematically redundant robotic device), a force-reflecting master controller operable to provide force information from the robotic device 101 to the operator in at least one of forces applied to the operator, vibrations generated by at least one vibration source, sound, or visual display, or any other suitable remote control device. The information may be displayed tactilely to the operator by the master control device, for example, by applying a force or by providing resistance to movement (e.g., a force-reflecting master controller). For example, forces at one or more joints of the robotic device 101 may be represented at corresponding joints of the master control device. The master control device may also be configured to control an end effector of the robotic device 101. In this case, forces experienced by the end effector may also be indicated by the master control device.

[0030] In one aspect, the remote control device 102 can include a master control device that can communicate master position or force information and communicate this information as a set of commands to the robotic device 101. In another aspect, the master control device can receive position or force information from the robotic device 101 for feedback to the user. For example, the smart control device 110 can communicate the position or force information as a set of commands to control the master control device to provide feedback to the operator. In one embodiment, the master control device can be configured to convert human kinematics to the kinematics of the robotic device 101 as needed to perform one or more tasks. In another example, the remote control device 102 can receive position or force data and generate its own set of commands to provide feedback to the operator through the master control device.

[0031] The smart control device 110 may be coupled to the robotic device 101 by any useful coupling technique, including, for example, a physical mount. Such a physical mount may be coupled to the robotic device 101 in a variety of ways, all of which are within the scope or contemplated herein. For example, a mounting bracket may be coupled between the physical mount and a subsystem structure (e.g., a structure of the drive subsystem 124) or a component of the subsystem. Depending on its configuration, the physical mount may provide additional functionality, such as a protective case, shock absorption, etc. It should be appreciated that the smart control device 110 may be coupled anywhere on the robotic device 101, such as a component or structure of the drive subsystem 124 or attitude control subsystem 126.

[0032] The communication subsystem 120 may be functionally or operatively (e.g., electrically, mechanically, etc.) coupled between the smart control device 110 and the robotic device 101 to facilitate control by the smart control device 110 of the drive subsystem 124, the local control subsystem 125, the attitude control subsystem 126, the sensor subsystem 122, or any other system or subsystem of the robotic device 101. Thus, the design of the physical mount may vary depending on the communication medium between the smart control device 110 and the robotic device 101. In some aspects, the physical mount may be primarily a physical support structure. The same may be true for wireless communication between the smart control device 110 and the robotic device 101. In other aspects, the physical mount may also include or support a physical electrical communication connector, such as a pin connection or other type of physical connector for interfacing with the smart control device 110. The same may be true for wired communication between the smart control device 110 and the robotic device 101.

[0033] In one aspect, a mount for a non-dedicated smart control device 110 may be configured to receive and removably support the smart control device 110, which may be configured to initiate and control operational functionality within the robotic device 101 when connected to the robotic device 101. A communications subsystem 120 may be operatively coupled between the robotic device 101 and the mount such that the robotic device 101 and the smart control device 110 are operatively coupled when connected. The communications subsystem 120 facilitates control by the smart control device 110 (when connected) of one or more subsystems of the robotic device 101.

[0034] Various drive subsystems are contemplated, and any useful drive mechanism is considered within the scope. Non-limiting examples of drive mechanisms may include tracks, wheels, legs, arms, contractile mediated movement devices, propellers, and the like. In one particular embodiment, the drive subsystem may include a continuous track that is movable by a motor around a support frame. Similarly, various attitude control subsystems are contemplated, and any useful attitude control mechanism is considered within the scope. In one example, the attitude control subsystem 126 may include a linkage subsystem. The linkage subsystem may include any suitable type of linkage mechanism for facilitating the attitude or movement of at least a portion of the robotic device 101. In one aspect, the linkage subsystem may include a multi-degree of freedom linkage. It should be appreciated that the joints or linkages of the linkage subsystems discussed herein may be actuated or passive, in any combination. In one aspect, the linkage mechanism may include actuated joints to provide one or more degrees of freedom of movement. In another aspect, the linkage mechanism may include passive joints that may be manipulated or moved to a selectively fixed position and held in place, for example, by incorporating adjustable fasteners. In further aspects, the passive joint or linkage may include a damping device or spring to control various aspects of the joint or linkage (e.g., those related to movement). The joints of the linkage mechanism may be single-axis, double-axis, triple-axis joints, or any other suitable joint configuration. The joints need not be limited to revolute joints that provide bending or rotational movement. Prismatic joints that provide translational movement may also be included. The joints may incorporate both rotational and prismatic features, for example, to provide eccentric movement. Thus, the joints may be configured to provide rotational or translational degrees of freedom of movement. It should be appreciated that the components or features of the linkage subsystem discussed herein may also be applicable to the drive subsystem.Those skilled in the art will recognize many different configurations or types of robotic devices that can be designed and used with smart control devices as taught herein to provide smart functionality to robotic devices as discussed herein. For example, these can include snake-like or serpentine type robotic devices, legged robotic devices, wheeled robotic devices, follower robotic devices, and other ground-traversing robotic devices. These can also include aerial or amphibious robotic devices. In essence, it is contemplated that the smart devices and associated smart functionality can be used to control the operational functions of any type of robotic device. Thus, the present technology should in no way be limited to those types of robotic devices specifically described herein.

[0035] In one embodiment, the drive subsystem 124 can include drives to facilitate rotation, bending, or movement of various components of the attitude control subsystem 126. Similarly, drives can be utilized to facilitate movement of the drive subsystem 124. In some aspects, the drives that actuate the drive subsystem 124 can also actuate all or a portion of the attitude control subsystem 126. In other words, the same drives that cause movement of the drive subsystem can also cause movement of associated portions of the attitude control subsystem 126. In other aspects, the drives that facilitate rotation, bending, or movement of components of the attitude control subsystem 126 can be dedicated drives. As will be recognized by those of ordinary skill in the art having access to this disclosure, various types of drives and coupling techniques for applying drive power to the drive subsystems or attitude control subsystems can be utilized.

[0036] 2 illustrates a robotic system 200 according to another example of the present disclosure. The robotic system 200 is similar in many respects to the robotic system 100 described above with respect to FIG. 1. The robotic system 200 can include multiple robotic devices 201a, 201b, each of which can be configured in any suitable manner as disclosed herein. Although two robotic devices are shown, it should be appreciated that any suitable number of robotic devices can be utilized. The robotic devices 201a, 201b can each include a non-dedicated local smart control device 210a, 210b, respectively, that can provide smart functionality for controlling the operational functions of the robotic devices 201a, 201b, respectively. The robotic devices 201a, 201b may further include respective communication subsystems 220a, 220b functionally coupled to the local smart control devices 210a, 220b to facilitate control by the local smart control devices 210a, 220b of one or more motion subsystems of the robotic devices 201a, 201b, such as sensor subsystems 222a, 222b, drive subsystems 224a, 224b, local control subsystems (e.g., local or degree of freedom (DOF) control subsystems 225a, 225b), and / or attitude control subsystems 226a, 226b. The sensor subsystems 222a, 222b may include sensors 223a, 223b, respectively. The smart control devices 210a, 210b may also include sensors 211a, 211b, respectively. In addition, the smart control devices 210a, 210b may include high-level functional modules 212a, 212b.

[0037] In addition, the robotic system 200 can include a remote control device 202 that can be configured in any suitable manner as disclosed herein. The remote control device 202 can communicate operational information with the local smart control devices 210a, 210b to facilitate user control of the robotic devices 201a, 201b. As with other examples disclosed herein, the robotic devices 201a, 201b can communicate with the remote control device 202 (which may include a processor), a remote processor (not shown), or other computing assets over a wireless communication medium, such as a cellular network, a computer network (e.g., via LAN, Internet, Wi-Fi, etc.), a peer-to-peer network (e.g., via Bluetooth), or any other suitable wireless network. By communicating with the remote control device 202, the remote processor, or other computing assets, one or more of the smart control devices 210a, 210b can share processor computing tasks with other computing assets on the network, or with other smart control devices that communicate with each other via one or more communication hubs or peer-to-peer communication channels. In one aspect, the remote control device 202 may include a non-dedicated remote smart control device as disclosed herein.

[0038] In addition, the smart control devices 210a, 210b can communicate with each other (e.g., peer-to-peer) over a wireless communication medium (e.g., Bluetooth), which can facilitate sharing of computational resources, exchange of data, communication of commands between local smart control devices (i.e., in addition to or as an alternative to communication of commands from the remote control device 202). In an aspect, the peer-to-peer communication between the smart control devices can facilitate the creation of a self-organizing network and / or the implementation of cooperative behavior, sensing, detection, classification, and / or other capabilities. In one example, the peer-to-peer communication capability can enable multiple robotic devices equipped with smart control devices to work as a swarm, creating a wide-aperture array where distributed multi-modal sensing capabilities along with the smart control devices (each with limited SWaP-C) can significantly exceed the geolocation, mapping, detection, and effectiveness that can be achieved by a system equipped with a single smart control device or a system equipped with a large group of independently operating smart control devices.

[0039] In one embodiment, the remote control device 202 may be configured to display data collected by the sensors 223a, 223b of the robotic devices 201a, 201b. For example, multiple robotic devices may be positioned across an area or along a line to effectively provide a wide-aperture array for data collection and data processing. Data collected from one or more robotic devices (e.g., one or both of the robotic devices 201a, 201b, and any others) may be coordinated by and displayed on the remote control device 202.

[0040] FIG. 3 illustrates a robotic system 300 according to yet another example of the present disclosure. The robotic system 300 has many similarities to other robotic systems discussed herein. For example, the robotic system 300 can include a robotic device 301, which can be configured in any suitable manner as disclosed herein. The robotic system 300 can also include a remote control device 302, which can be configured in any suitable manner as disclosed herein. In this case, the robotic device 301 includes multiple non-dedicated local smart control devices 310, 310′, each of which can provide smart functionality for controlling the operational functions of the robotic device 301. Although two local smart control devices are shown, it should be appreciated that any suitable number of local smart control devices can be utilized. The robotic device 301 may further include a communication subsystem 320 operatively coupled to the local smart control device 310, 310′ to facilitate control by the local smart control device of one or more motion subsystems of the robotic device 301, such as a sensor subsystem 322, a drive subsystem 324, a local control subsystem (e.g., a local or degree of freedom (DOF) control subsystem 325), and / or an attitude control subsystem 326.

[0041] The remote control device 302 can communicate operational information with one or more of the local smart control devices 310, 310' to facilitate user control of the robotic device 301. As with other examples disclosed herein, the robotic device 301 can communicate with the remote control device 302 (which may include a processor), the remote processor 331, or other computing assets over a wireless communication medium, such as a cellular network, a computer network, (e.g., via a LAN, the Internet 330, Wi-Fi, etc.), or any other suitable wireless network. By communicating with the remote control device 302, the remote processor 331, or other computing assets, one or more of the smart control devices 310, 310' can share processor computing tasks with other computing assets on the network. In one aspect, the remote control device 302 can include a non-dedicated remote smart control device as disclosed herein. In addition, the smart control devices 310, 310' can communicate with each other over a wired or wireless communication medium, which can facilitate sharing of computational resources between the local smart control devices 310, 310' such that processor computational tasks can be shared among multiple local smart control devices.

[0042] The sensor subsystem 322 can include one or more sensors 323. The smart control devices 310, 310' can also include sensors 311, 311', respectively. In addition, the smart control devices 310, 310' can include high level functional modules 312, 312', respectively. Multiple local smart control devices 310, 310' operatively coupled to the communication subsystem 320 can facilitate multiple communication paths for the on-board sensors 323 for data processing or for communication to an operator via the remote control device 302.

[0043] In some embodiments, at least two of the sensors 311, 311', 323 may be of a common type (e.g., optical sensor type, audio / acoustic sensor type, etc.). In one aspect, the common type sensors may provide the ability to compare data acquired from different sensors, such as a comparison between the sensor 311 or 311' of the smart control device and the sensor 323 resident or on-board the robotic device 301. In another aspect, the common type sensors may be used together to provide enhanced imaging. For example, at least two of the sensors 311, 311', 323 may be optical sensors (e.g., cameras) to facilitate acquisition of three-dimensional imaging for viewing of the image by an operator. In another example, at least two of the sensors 311, 311', 323 may be audio / acoustic sensors (e.g., microphones) to facilitate acquisition of stereo sound. In yet another aspect, the common type sensors may be operated independently of each other and may provide multiple data references (e.g., multiple views when using cameras).

[0044] When using optical sensors, it may be desirable for the sensor 323 to include a camera having a higher resolution compared to the camera of the smart control device 310, 310'. Additionally, a camera or camera filter sensitive to a desired portion of the electromagnetic spectrum may be associated with the robotic device 301 to obtain data that may not be available to the on-board imaging system of the smart control device 310, 310', such as, for example, IR, UV, X-ray, gamma ray, microwave, etc. Similarly, when sensing audio, such as from an audio pickup device (e.g., microphone), it may be desirable for the sensor 323 to include a more sensitive audio pickup device compared to the audio pickup device of the smart control device 310, 310' for enhanced audio data collection.

[0045] The present disclosure further describes a method for operating and controlling a robotic device, the method including the steps of obtaining a robotic device, the robotic device including one or more systems or subsystems each operable to facilitate control of an operational function of the robotic device; operably coupling or connecting one or more non-dedicated smart control devices to at least one of the one or more systems or subsystems of the robotic device and supporting the robotic device on board, each smart control device providing smart functionality to the robotic device, e.g., for controlling the operational functions of the robotic device; and operating the smart control devices to initiate and control one or more of the operational functions of the robotic device. The method may further include operating the robotic device with a remote control device operable to communicate operation information to a local smart control device mounted on the robotic device to facilitate remote user control of the robotic device. The operation of coupling or connecting one or more non-dedicated smart control devices with one or more systems or subsystems of the robotic device may include operably coupling or connecting the smart control device to a communication subsystem of the robotic device to facilitate control by the smart control device of at least one operation subsystem of the robotic device. For example, the communication subsystem may be in communication with and operable to a drive subsystem, an attitude control subsystem, a sensor subsystem, or any other system or subsystem, or any combination thereof.

[0046] In one example, the method may further include coupling or connecting multiple non-dedicated smart control devices with one or more systems or subsystems on a single robotic device, each of the multiple smart control devices being operable to function as described herein.

[0047] The method may further include operating at least one smart control device within at least one of a computer network or a cellular network, or both, where the at least one smart control device is operable to communicate with the computer network or the cellular network. In one example, at least one of the multiple smart control devices may be operable to share processor computational tasks with a remote processor via the computer network or the cellular network. In another example, two or more smart control devices may be operable to communicate with each other and share processor computational tasks with each other.

[0048] It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein, but extend to equivalents thereof as recognized by those skilled in the art. It is also to be understood that the terminology employed herein is used only for the purpose of describing particular embodiments, and is not intended to be limiting.

[0049] Throughout this specification, reference to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification do not necessarily all refer to the same embodiment.

[0050] As used herein, the term "substantially" refers to the complete or nearly complete extent or degree of an action, characteristic, property, state, structure, item, or result. For example, a "substantially" enclosed object means that the object is completely enclosed or nearly completely enclosed. The exact acceptable degree of deviation from absolute completeness may, in some cases, depend on the particular context. Generally speaking, however, the closeness of completion is such that one has the same overall result as if absolute and total completion had been obtained. The use of "substantially" is equally applicable when used in a negative sense to refer to a complete or nearly complete lack of an action, characteristic, property, state, structure, item, or result.

[0051] As used herein, a plurality of items, structural elements, compositional elements, or materials may be presented in a common list for convenience. However, these lists should be construed as if each member of the list were individually identified as a separate and unique member. Thus, the individual members of such lists should not be construed as de facto equivalents of any other members of the same list solely based on their presentation in a common group, unless otherwise indicated. In addition, various embodiments and examples of the invention may be referred to herein, along with alternative forms of its various components. It should be understood that such embodiments, examples, and alternative forms should not be construed as de facto equivalents of each other, but should be considered as separate and autonomous representations of the invention.

[0052] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., to provide a thorough understanding of embodiments of the invention. However, one of ordinary skill in the art will recognize that the invention may be practiced without one or more of the specific details, or may be practiced with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.

[0053] While the foregoing examples illustrate the principles of the present invention in one or more specific applications, it will be apparent to those skilled in the art that numerous modifications in the form, use and details of implementations may be made without the exercise of inventive faculty and without departing from the principles and concepts of the present invention. Accordingly, the present invention is not intended to be limited, except as by the claims set forth below.

Claims

1. 1. A robotic device comprising: a plurality of non-dedicated smart control devices, each smart control device providing smart functionality for controlling operational functions of the robotic device, at least two of the plurality of non-dedicated control devices: Communicating with computer networks, Share processor computing tasks with each other via said computer network It is operable as follows: Robot device.

2. The robotic device of claim 1 , further comprising a communications subsystem operably coupled to the smart control device to facilitate control by the smart control device of at least one motion subsystem of the robotic device.

3. The robotic device of claim 1 , wherein the motion function includes controlling a sensor.

4. 4. The robotic device of claim 3, wherein the sensors include at least one of an optical sensor, a camera, a stereo camera, an RFID reader, a gas analyzer, a chemical spectrometer, a mass spectrometer, a visible light spectrometer, an infrared spectrometer, an X-ray spectrometer, a gamma ray spectrometer, a vibration sensor, an accelerometer, a barometer, a pressure sensor, an inertial sensor, a gyroscope, a compass, a magnetometer, an explosives detector, an RF detector, an electromagnetic radiation sensor, a physiological sensor, a LIDAR, a thermal sensor, an IR imager, an acoustic sensor, a strain sensor, a load sensor, a velocity sensor, a sound triangulation and position sensor, an electric field sensor, an ion mobility sensor, a chemiluminescence sensor, a surface acoustic wave sensor, a tactile whisker, a radiation detector, a metal detector, a magnetometer, or an inertial measurement unit (IMU).

5. The robotic device of claim 3 , wherein at least one of the smart control devices includes and supports the sensor mounted thereon.

6. 6. The robotic device of claim 5, wherein the sensors include a camera, a microphone, an accelerometer, a gyroscope, a gravity sensor, a compass, a barometer, a proximity sensor, a temperature sensor, a relative humidity sensor, a light sensor, a magnetic field sensor, an orientation sensor, an IR imager, a stereo camera, an RGBD camera, a LIDAR, or a combination thereof.

7. The robotic device of claim 5 , wherein at least two of the smart control devices have a common type of sensor to facilitate comparison of data acquired by each of the at least two smart control devices.

8. The robotic device of claim 3 , wherein the sensor includes a camera, and at least two of the smart control devices include a camera.

9. The robotic device of claim 8 , wherein the plurality of smart control devices have cameras to facilitate acquisition of three-dimensional imaging.

10. The robotic device of claim 8 , wherein the multiple smart control devices have cameras and operate the cameras independently of each other.

11. The robotic device of claim 3 , wherein the sensor includes a microphone and at least two of the smart control devices include a microphone.

12. The robotic device of claim 11 , wherein the plurality of smart control devices have microphones to facilitate stereo sound capture.

13. The robotic device of claim 1 , wherein at least one of the plurality of smart control devices is operable to communicate with a computer network.

14. The robotic device of claim 1 , wherein at least one of the plurality of smart control devices is operable to communicate with a cellular network.

15. The robotic device of claim 1 , wherein at least two of the plurality of smart control devices are operable to share processor computational tasks with each other.

16. The robotic device of claim 1 , wherein one or more of the smart control devices are operable to communicate with another smart control device over a peer-to-peer network.

17. The robotic device of claim 1 , wherein one or more of the smart control devices are operable to communicate operational information with a remote control device.

18. The robotic device of claim 17 , wherein the remote control device comprises a non-dedicated remote smart control device.

19. The robotic device of claim 18 , wherein one or more of the smart control devices are operable to communicate with the remote control device via a peer-to-peer network.

20. The robotic device of claim 1 , wherein at least one of the smart control devices comprises a device selected from a smartphone, a tablet computer, a laptop computer, or a wearable computing device.

21. 1. A robot system comprising: a robotic device having a non-dedicated local smart control device that provides smart functionality for controlling operational functions of the robotic device; another robotic device having a separate non-dedicated local control device that provides smart functionality for controlling operational functions of the another robotic device; a remote control device for communicating operational information to the non-dedicated local smart control device and the other non-dedicated local control device to facilitate user control of the robotic device and the other robotic device; Including, the non-dedicated local control device and the another non-dedicated local control device are operable to communicate with each other over a computer network and to share processor computational tasks with each other over the computer network; Robot system.

22. 22. The robotic system of claim 21 , wherein the robotic device further includes a communications subsystem operably coupled to the local smart control device and the other non-dedicated local controlling device to facilitate control of at least one motion subsystem of the robotic device by at least one of the local smart control device and the other non-dedicated local controlling device.

23. The robotic system of claim 21 , wherein the operational function includes controlling a sensor.

24. 24. The robotic system of claim 23, wherein the sensors include at least one of an optical sensor, a camera, a stereo camera, an RFID reader, a gas analyzer, a chemical spectrometer, a mass spectrometer, a visible light spectrometer, an infrared spectrometer, an X-ray spectrometer, a gamma ray spectrometer, a vibration sensor, an accelerometer, a barometer, a pressure sensor, an inertial sensor, a gyroscope, a compass, a magnetometer, an explosives detector, an RF detector, an electromagnetic radiation sensor, a physiological sensor, a LIDAR, a thermal sensor, an IR imager, an acoustic sensor, a strain sensor, a load sensor, a velocity sensor, a sound triangulation and position sensor, an electric field sensor, an ion mobility sensor, a chemiluminescence sensor, a surface acoustic wave sensor, a tactile whisker, a radiation detector, a metal detector, a magnetometer, or an inertial measurement unit (IMU).

25. The robotic system of claim 23 , wherein at least one of the non-dedicated local control device and the another non-dedicated local control device includes the sensor.

26. 26. The robotic system of claim 25, wherein the sensors include a camera, a microphone, an accelerometer, a gyroscope, a gravity sensor, a compass, a barometer, a proximity sensor, a temperature sensor, a relative humidity sensor, a light sensor, a magnetic field sensor, an orientation sensor, an IR imager, a stereo camera, an RGBD camera, a LIDAR, or a combination thereof.

27. The robotic system of claim 23 , wherein the remote control device is operable to display sensor data collected by the robotic device.

28. The robotic system of claim 21 , wherein the non-dedicated local control device, the further non-dedicated local control device, and the remote control device are operable to communicate with each other via a computer network connection.

29. 30. The robotic system of claim 28, wherein at least one of the non-dedicated local control device or the another non-dedicated local control device is operable to share processor computational tasks with a remote processor via the computer network.

30. 30. The robotic system of claim 29, wherein the remote control device includes the remote processor.

31. The robotic system of claim 21 , wherein the non-dedicated local control device, the another non-dedicated local control device, and the remote control device are operable to communicate with each other via a cellular network.

32. 22. The robotic system of claim 21, wherein the remote control device includes at least one of the non-dedicated local control device or the another non-dedicated local control device configured to provide smart functionality that facilitates user control of the robotic device.

33. The robotic system of claim 32 , wherein the non-dedicated local control device, the further non-dedicated local control device, and the remote control device are operable to communicate with each other via a peer-to-peer network.

34. The robotic system of claim 32, wherein at least one of the non-dedicated local control device or the another non-dedicated local control device includes a smartphone, a tablet computer, a laptop computer, a wearable computing device, or a combination thereof.

35. The robotic system of claim 21, wherein at least one of the non-dedicated local control device or the another non-dedicated local control device includes a smartphone, a tablet computer, a laptop computer, a wearable computing device, or a combination thereof.

36. 22. The robotic system of claim 21, further comprising a second robotic device having a second non-dedicated local smart control device that provides smart functionality for controlling operational functions of the second robotic device, the remote control device communicating operational information with the second local smart control device to facilitate user control of the second robotic device.

37. The robotic system of claim 36, wherein the non-dedicated local control device and the another non-dedicated local control device are operable to communicate with each other via a peer-to-peer network.

38. The robot system of claim 36, wherein the non-dedicated local control device and the other non-dedicated local control device each include a sensor, and the remote control device is operable to display sensor data collected by the non-dedicated local control device and the other non-dedicated local control device.

39. 22. The robotic system of claim 21, wherein the remote control device is operable to display commands given by an operator.

40. 40. The robotic system of claim 39, wherein the remote control device is operable to display feedback from the robotic device to the operator regarding the actual state of the robotic device.

41. 41. The robotic system of claim 40, wherein the remote control device is operable to provide a comparison of the commands given by the operator compared to the feedback from the robotic device.

42. The robotic system of claim 21 , wherein the remote control device is operable to display position information of one or more degrees of freedom of the robotic device.

43. The robotic system of claim 21 , wherein the remote control device is operable to display force information for one or more degrees of freedom of the robotic device.

44. 44. The robotic system of claim 43, wherein the force information is displayed visually, tactilely, or a combination thereof.

45. 22. The robotic system of claim 21, wherein the remote control device is operable to display a video of images captured by the robotic device.

46. The robotic system of claim 21 , wherein the remote control device is operable to play back audio captured by the robotic device.

47. The robotic system of claim 21 , wherein the remote control device is operable to display sensor data from the robotic device.

48. The robotic system of claim 21 , wherein the remote control device is operable to encrypt and decrypt data to provide secure communications.

49. 22. The robotic system of claim 21, wherein the remote control device is operable to perform at least one of simultaneous localization and mapping, predefined path following, path recording, path re-tracking, target identification, target following, object detection, object identification, or obstacle detection and overcoming.

50. 22. The robotic system of claim 21, wherein the remote control device comprises at least one of a video game controller, a video game interface device, a replica master controller, a master controller wearable by an operator, a master controller that measures one or more joint positions of the operator, a master controller that measures forces generated at one or more joints of the operator, a master controller that measures at least one of position information and force information and translates the information as a set of commands to the robotic device, a force reflecting master controller operable to provide force information from the robotic device to the operator by at least one of a force applied to the operator, vibrations generated by at least one vibration source, a sound, or a visual indication, or a translation master controller in which human kinematics are translated into kinematics of the robotic device.

51. 1. A method for controlling a robotic device, comprising: obtaining a robotic device, the robotic device including one or more systems each operable to facilitate control of operational functions of the robotic device; mounting and supporting a plurality of non-dedicated control devices on said robotic device; operatively connecting each non-dedicated control device of the plurality of non-dedicated control devices with at least one of the one or more systems of the robotic device, each control device of the plurality of control devices being operable to provide functionality to the robotic device; operating at least one of the smart control devices to initiate and control one or more of the operational functions of the robotic device, wherein at least two of the plurality of control devices are in communication with a computer network and operable to share processor computational tasks with each other via the computer network; The method includes:

52. 52. The method of claim 51, further comprising operating the robotic device with a remote control device operable to communicate operational information to the on-board non-dedicated smart control device to facilitate remote user control of the robotic device.

53. The method of claim 51, wherein the step of operably connecting each non-dedicated smart control device of the plurality of non-dedicated smart control devices to at least one of the one or more systems of the robotic device includes the step of operably connecting each non-dedicated smart control device to a communications subsystem of the robotic device to facilitate control by the non-dedicated smart control device of at least one operational subsystem of the robotic device.

54. 54. The method of claim 53, wherein the communications subsystem is operatively couplable to at least one of a drive subsystem, an attitude control subsystem, a local control subsystem, or a sensor subsystem.

55. 52. The method of claim 51, further comprising performing at least one of simultaneous localization and mapping, predefined path following, path recording, path re-tracking, target identification, target following, object detection, object identification, or obstacle detection and overcoming.

56. 52. The method of claim 51, further comprising operating each non-dedicated control device of the plurality of non-dedicated control devices within at least one of a computer network, a cellular network, or a peer-to-peer network, each non-dedicated smart control device operable to communicate with at least one of the computer network, the cellular network, or another smart control device.

Images