Robot Motion Primitive Parameter Adaptation
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Solution Overview
Problem
Robots lack an efficient method to determine optimal movement parameters for tasks based on the nature of the task, environment, and object attributes, leading to potential damage to the robot or environment due to inappropriate movement settings.
Innovation Solution
A method that determines suggested task-level movement parameters using a combination of attributes of the task, environment, and past robot behavior, which can be adjusted by users through a graphical interface, and translates these into component-level movement parameters for specific motion primitives.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves quickly to complete tasks faster, then productivity increases, but the risk of damage to fragile objects or the environment increases
Solution Approach 1:
The system dynamically changes movement parameters (speed, impedance) based on task attributes and object properties. For fragile objects, the system automatically reduces speed and lowers impedance to prevent damage, while for robust objects it increases speed to maintain productivity. This parameter adaptation resolves the contradiction by making the robot's movement characteristics context-dependent.
Solution Approach 2:
The robot transitions from static movement parameters to dynamic parameters that adapt in real-time based on environmental feedback and task requirements. The system continuously adjusts impedance and velocity profiles according to the detected object fragility and task criticality, enabling safe fast movement when appropriate and careful slow movement when necessary.
2Measurement precision
If the robot uses high impedance (stiffness) for precise positioning, then positioning accuracy improves, but the risk of harmful impact increases
Solution Approach 1:
The system changes the impedance parameter dynamically based on task requirements and object properties. For precise positioning of fragile objects, the system maintains high positioning accuracy through controlled impedance adjustment while simultaneously reducing impact forces through coordinated velocity and force limiting, thus resolving the contradiction between precision and safety.
Solution Approach 2:
The robot applies different impedance levels to different degrees of freedom or different end-effectors based on local task requirements. For example, one joint may operate with high stiffness for positioning accuracy while another operates with low impedance for compliance, or the impedance is adjusted locally at the point of contact with the object to prevent damage.
3Object-affected harmful factors
If the robot moves slowly to handle fragile objects carefully, then object safety improves, but task execution time increases
Solution Approach 1:
The robot dynamically adjusts its speed profile based on the spatial and temporal context of the task. During critical phases involving fragile objects, the system reduces speed to ensure safety, while during non-critical phases such as traversal or handling robust objects, it increases speed to minimize task execution time. This dynamic speed adaptation resolves the contradiction by making slowness context-dependent rather than constant.
4Object-affected harmful factors
If the robot emulates low impedance for delicate tasks, then object damage risk decreases, but positioning precision deteriorates
Solution Approach 1:
The system coordinates multiple parameter changes simultaneously - reducing impedance for compliance while adjusting velocity profiles and applying force control to maintain positioning precision. The controller compensates for the effects of low impedance through active control algorithms that maintain accuracy despite the compliant mechanical characteristics.
Data Source
AI summary
Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and past behavior by robots while performing tasks similar to the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.