Layered Motion Policies for Obstacle-Aware Machine Control
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Solution Overview
Problem
Existing machine control systems struggle to efficiently program machines, such as robots, to perform complex movements in dynamic and uncertain environments while ensuring safety and predictability.
Innovation Solution
The implementation of a policy-based control system using a layered approach, where each policy layer generates a movement that builds upon previous layers, allowing for the creation of a geometric fabric that defines nominal behavior and captures commonalities like obstacle avoidance and redundancy resolution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a policy-based control system with layered approach is implemented, then the machine's ability to perform complex movements in dynamic environments is improved, but the device complexity increases
Solution Approach 1:
The control policy is segmented into multiple layers, where each layer handles specific aspects of control (e.g., obstacle avoidance, joint limitation management, task execution). This segmentation allows the complex control problem to be broken down into manageable sub-problems, improving adaptability without overwhelming system complexity
Solution Approach 2:
The control approach adds a temporal dimension by layering policies in sequence, where earlier layers establish foundational constraints and later layers build upon them. This dimensional approach to policy organization enables complex behavior emergence from simpler layered components
2Reliability
If layered policies are used to control movement and avoid obstacles, then the reliability and safety of machine operations are improved, but the programming complexity increases
Solution Approach 1:
Earlier policy layers establish constraints and guidelines (such as obstacle avoidance rules and joint limitation boundaries) before later layers execute specific tasks. This preliminary action ensures safety and reliability are built into the foundation of the control system, making operations predictable while organizing programming complexity into a structured sequence
3Manufacturing precision
If multiple policy layers are implemented to manage joint limitations and obstacles, then the manufacturing precision and control accuracy are improved, but the loss of time in policy generation and execution increases
Solution Approach 1:
By segmenting the control policy into specialized layers (obstacle avoidance layer, joint limitation layer, task execution layer), each layer can be optimized independently for its specific function. This segmentation improves overall control accuracy while enabling parallel processing of different control aspects, reducing total execution time compared to a monolithic approach
Data Source
AI summary
Apparatuses, systems, and techniques provide a policy that can be executed to cause a machine to move. In at least one embodiment, a first policy layer is provided to cause the machine to execute a first motion that causes the machine to accelerate to reach an unbiased state. A second policy layer is provided to cause the machine to execute a second motion without influencing the unbiased state to be reached by machine. The policy can comprise the first and second policy layers.