Spatial Controller Intent Detection with Low-Precision Sensor Fusion
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Solution Overview
Problem
Current robotic control systems face interoperability issues due to proprietary technologies, leading to high costs and limited compatibility with sensors from different manufacturers, and often rely on high-precision sensing technologies that are not robust or cost-effective for dynamic environmental conditions.
Innovation Solution
A platform-agnostic robotic control system that integrates with various sensors, providing intuitive control of robotic manipulation systems using a spatial controller, capable of operating in different modes and environments, and allowing seamless communication across diverse robotic platforms, including those with low-precision sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If proprietary technology is used for robotic control systems, then control precision is improved, but interoperability with sensors from different manufacturers deteriorates and system cost increases
Solution Approach 1:
The robotic control system is designed with a universal interface architecture that can accommodate multiple sensor types and manufacturers. The system implements standardized communication protocols and data normalization layers that enable different sensors to work together without proprietary restrictions, allowing one control system to serve multiple sensor platforms effectively
2Measurement precision
If high-precision sensing technologies are employed, then measurement accuracy is improved, but system cost increases and robustness in dynamic environments deteriorates
Solution Approach 1:
The system combines multiple low-precision sensors to achieve the measurement accuracy previously requiring a single high-precision sensor. By fusing data from multiple sensors through algorithms, the system maintains robustness in dynamic environments while reducing cost and improving reliability through redundancy
3Measurement precision
If high-precision sensing technologies are used, then measurement accuracy is improved, but system cost increases
Solution Approach 1:
The system replaces expensive high-precision sensors with multiple inexpensive low-precision sensors. By using affordable sensor components that can be easily manufactured and replaced, the system achieves comparable measurement accuracy through data fusion while significantly reducing overall system cost and improving ease of manufacture
Data Source
AI summary
Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.