AR Assembly Demonstration for Robot Learning Without Physical Handling
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Solution Overview
Problem
Existing methods for programming robots are limited by the need for physical interaction with large, heavy, or dangerous objects, and recreating complex environments in virtual reality requires significant computational resources.
Innovation Solution
A method using augmented reality (AR) devices for robotic learning, where a human operator demonstrates assembly tasks with both virtual and physical objects, allowing the AR device to track and program the robotic system based on the manipulation of virtual objects, eliminating the need for external sensors and reducing computational requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If physical demonstration is used to program robots, then the robot can learn assembly tasks, but the operator cannot safely handle large, heavy, or dangerous objects
Solution Approach 1:
The patent uses virtual copies of physical objects in an augmented reality environment. The operator interacts with virtual representations rather than actual dangerous objects, capturing the demonstration through sensors while eliminating physical risk. This allows the robot to learn assembly tasks involving hazardous objects without exposing the operator to danger.
2Ease of operation
If virtual reality is used to program robots, then the operator can safely manipulate objects, but extensive computational resources are required to recreate complex environments
Solution Approach 1:
The patent merges virtual and physical environments by overlaying virtual objects onto the real physical workspace using augmented reality. This hybrid approach allows the operator to interact with virtual representations of objects in the actual environment, reducing the computational burden of creating entirely virtual scenes while maintaining safety and realism.
Solution Approach 2:
The patent extracts only the essential elements needed for demonstration from the physical environment and represents them as virtual objects in augmented reality. Rather than recreating entire complex environments, the system isolates and virtualizes specific objects and assembly tasks, significantly reducing computational requirements while preserving the core programming functionality.
3Use of energy by moving object
If virtual objects are used in augmented reality, then computational resources are reduced, but tracking manipulation accurately becomes more challenging
Solution Approach 1:
The patent employs physical markers or fiducial elements as intermediaries between the virtual objects and the physical world. These markers provide reference points that sensors can easily detect and track, enabling accurate measurement of virtual object manipulation without requiring complex computational tracking algorithms. The markers serve as mediators that bridge the virtual-augmented and physical domains.
Data Source
AI summary
A method for programming a robotic system by demonstration is described. In one aspect, the method includes displaying a first virtual object in a display of an augmented reality (AR) device, the first virtual object corresponding to a first physical object in a physical environment of the AR device, tracking, using the AR device, a manipulation of the first virtual object by a user of the AR device, identifying an initial state and a final state of the first virtual object based on the tracking, the initial state corresponding to an initial pose of the first virtual object, the final state corresponding to a final pose of the first virtual object, and programming by demonstration a robotic system using the tracking of the manipulation of the first virtual object, the first initial state of the first virtual object, and the final state of the first virtual object.