Robotic Configuration Space Mapping for Human-Like Control
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Solution Overview
Problem
Robotic systems struggle to execute tasks with the same efficiency as humans, as they often lack the ability to utilize human-like control methods and react effectively to diverse environments, requiring extensive programming and failing to sense operator movements adequately.
Innovation Solution
A system comprising a processor, an operator interface, and an operator controllable device that uses a training set to create a map between configuration spaces, allowing the device to simulate human-like actions and adapt to environments by receiving and processing sensor information to generate autonomous control instructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic devices are programmed to autonomously react to diverse environments, then adaptability improves, but programming complexity and time requirements increase significantly
Solution Approach 1:
The patent creates a configuration space map that copies the relationship between operator interface movements and operator controllable device configurations. This map is generated from a training set of paired configurations, allowing the system to replicate human-like control patterns without requiring complex programming for each scenario.
Solution Approach 2:
The system performs preliminary action by pre-generating a configuration space map during a training phase. This map stores the relationships between interface configurations and device configurations before actual operation, eliminating the need for complex real-time programming decisions during autonomous operation.
2Measurement precision
If operator interfaces are designed to sense operator movements, then control accuracy improves, but interface complexity increases
Solution Approach 1:
The operator interface serves multiple functions: it acts as both the control input device and the movement sensing device. The same interface elements that operators manipulate also contain sensors that detect the operator's natural movements, eliminating the need for separate sensing hardware and reducing overall system complexity.
3Productivity
If robotic systems use human-like control methods, then task execution efficiency improves, but system complexity increases
Solution Approach 1:
The patent replaces complex mechanical control systems with an information-based configuration space map. Instead of using complex mechanical linkages or multiple sensors to achieve human-like control, the system uses a computational map that translates operator interface movements into appropriate device configurations through information processing.
Data Source
AI summary
Systems, devices, articles, and methods are illustrated and described herein. A method of operation in a robotic system including a processor, a first device, and a second device involves receiving, by the processor, a training set including a first plurality of positions in a first configuration space that represents physical configurations of the first device, a second plurality of positions in a second configuration space that represents physical configurations of the second device, and information that represents pairs of positions. A representative pair includes a first representative position in the first configuration space and a second representative position in the second configuration space. The method involves creating, by the processor, from the training set, information that represents a map between a first run-time position in the first configuration space, and a second run-time position in the second configuration space, and returning, by the processor, the information that represents the map.