Multi-Purpose Robot Work Primitives for Semi-Autonomous Task Execution
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Solution Overview
Problem
Existing robots require elaborate tele-operation systems that demand full pilot attention and cause significant wear before deployment, limiting accessibility and efficiency.
Innovation Solution
A robot system that utilizes a catalog of reusable work primitives, enabling semi-autonomous operation by identifying and executing workflows for multiple work objectives through a processor and non-transitory storage medium, allowing for adaptable task completion across various service categories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robots are trained by repeatedly performing physical tasks in the real world, then the robot learns to complete work objectives, but significant wear and tear occurs on the robot components before deployment
Solution Approach 1:
The patent creates virtual copies of the robot and its environment in a simulated training environment. The robot's physical actions, sensor inputs, and task completions are replicated digitally, allowing extensive training without any physical wear. The simulation includes digital twins of work objects and environments that can be interacted with indefinitely without degradation.
Solution Approach 2:
The robot undergoes comprehensive training in the virtual environment before any real-world deployment. All necessary skills, task sequences, and environmental interactions are pre-learning in simulation, so the robot is fully prepared for field work without requiring physical practice trials that would cause wear.
2Ease of operation
If tele-operation systems use elaborate interfaces with sophisticated sensors and equipment, then the robot can be controlled precisely, but the system becomes less accessible and requires full pilot attention
Solution Approach 1:
The robot autonomously performs task planning, decision-making, and execution without requiring constant human intervention. The semi-autonomous system handles routine decisions independently, reducing the complexity of the tele-operation interface and making the system more accessible to operators who don't need specialized training or full attention.
Solution Approach 2:
The control system is divided into autonomous functions handled by the robot and supervisory functions handled by the human operator. This segmentation allows the interface to be simplified to only the essential supervisory controls needed, rather than requiring complex interfaces for all robot functions.
3Adaptability or versatility
If a robot is designed to complete multiple different work objectives, then the robot's versatility increases, but the complexity of controlling the robot increases
Solution Approach 1:
The robot employs a universal control architecture and standardized interface that can handle multiple different work objectives through a consistent method. The same control system and interaction paradigm are used across diverse tasks such as cleaning, construction, and inspection, preventing complexity multiplication despite increased versatility.
Data Source
AI summary
Robots, systems, methods, and computer program products for training and operating (semi-)autonomous robots to complete work objectives are described. A robot accesses a library of reusable work primitives from a catalog of libraries of reusable work primitives, each reusable work primitive corresponding to a respective basic sub-action that the robot is trained to autonomously perform. A work objective is analyzed to determine a sequence of reusable work primitives that complete the work objective, and the robot executes the sequence to complete the work objective. A robot can be deployed with access to an appropriate library of reusable work primitives, based on expectations for the robot. The robot is trained to perform reusable work primitives in multiple libraries, by generating control instructions which cause the robot to perform each reusable work primitive. Training is performed by real-world robots performing reusable work primitives, or simulated robot instances performing the reusable work primitives.