Robotic Teleoperation With Virtual Object Feedback for Safer Control
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Solution Overview
Problem
Users face challenges in accurately controlling remote robots due to uncertainty in how the robot interacts with its environment, leading to undesirable interactions and reduced accuracy in moving objects within its environment.
Innovation Solution
A method and system that provide a virtual representation of the robot's environment, including object attributes like occupancy, force, and deformation data, to modify user commands and prevent unintended interactions by adjusting the robot's actions based on these attributes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If users teleoperatively control remote robots to interact with objects, then the robot can perform tasks in remote environments, but the user experiences reduced accuracy in controlling the robot's movement and interactions
Solution Approach 1:
The system provides real-time feedback to the user by displaying virtual representations of the environment and objects, including their attributes such as occupancy, force, and deformation data. This feedback loop allows users to see the effects of their commands before executing them, enabling more precise control and reducing unintended interactions.
Solution Approach 2:
The system determines object attributes (occupancy, force, deformation) before the user executes commands. By providing this preliminary information about the environment and objects, the user can plan and adjust their commands in advance, leading to more accurate and reliable robot interactions.
2Productivity
If the robot executes user commands to move with respect to objects, then task completion is achieved, but unintended interactions and potential damage to objects or robot may occur
Solution Approach 1:
The system preemptively prevents harmful interactions by determining object attributes (occupancy, force, deformation) before executing user commands. If the attributes indicate potential damage or unintended interactions, the system can warn the user or automatically adjust the robot's actions to avoid harm, thus preventing rather than just reacting to problems.
Solution Approach 2:
Real-time feedback on object attributes allows the system to monitor the robot's interactions continuously. When harmful conditions are detected during operation, the system can provide immediate feedback to the user or automatically modify commands to prevent damage, ensuring safe task completion.
3Measurement precision
If the system provides detailed virtual representation and attribute data to improve control accuracy, then the user can make more informed commands, but the system complexity increases
Solution Approach 1:
The system creates a virtual representation (copy) of the physical environment and objects, displaying their attributes such as occupancy, force, and deformation data. This virtual model allows users to interact with a simplified digital twin rather than directly controlling the complex physical robot, reducing the perceived complexity while maintaining control accuracy.
Solution Approach 2:
The system divides the complex environment into discrete objects with specific attributes (occupancy, force, deformation). By segmenting the environment this way, the system presents manageable, organized information to the user rather than overwhelming raw sensor data, making the system easier to use despite its underlying complexity.
Data Source
AI summary
A method includes providing a virtual representation of an environment of a robot. The virtual representation includes an object representation of an object in the environment. The method further includes determining an attribute of the object within the environment of the robot. The attribute includes at least one of occupancy data, force data, and deformation data pertaining to the object. The method further includes receiving a user command to control the robot to move with respect to the object, and modifying a received user command pertaining to the representation of the object based upon the attribute.