Spatial Teleoperation for Legged Vehicles With Sensor Fusion Control
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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 and devices, utilizing intuitive gesture recognition and inertial data from mobile devices to control robots, enabling robust and low-cost data capture and aggregation, and allowing operation in dynamic environments with reduced user fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If proprietary technology is used in robotic control systems, then control precision is improved, but interoperability deteriorates and cost increases
Solution Approach 1:
The patent implements a universal control system that can interface with multiple types of sensors from different manufacturers through standardized protocols. The system uses a common communication framework that supports various sensor types (inertial sensors, cameras, LIDAR) without requiring proprietary integration for each device, thereby achieving both precision control and broad interoperability
2Measurement precision
If high-precision sensing technologies are employed, then measurement accuracy is improved, but cost increases and robustness in dynamic environments deteriorates
Solution Approach 1:
The patent combines multiple sensing modalities (inertial sensors, visual cameras, LIDAR) into an integrated sensing system. By merging data from these different sensor types, the system achieves robust performance in dynamic environments through sensor fusion, where each sensor compensates for the weaknesses of others, maintaining reliability while using cost-effective individual components
Solution Approach 2:
The system introduces sensor fusion algorithms as an intermediary layer between raw sensor data and control decisions. This intermediary processing layer integrates information from multiple sensors, filtering noise and compensating for individual sensor limitations in dynamic environments, thereby achieving robustness without requiring each individual sensor to be extremely precise or expensive
3Measurement precision
If complex control systems are used, then control accuracy is improved, but ease of operation deteriorates and user fatigue increases
Solution Approach 1:
The control system incorporates autonomous features that allow the robotic system to self-adjust and self-correct based on sensor feedback. The system automatically handles complex control calculations and adaptations, reducing the cognitive and physical burden on the user while maintaining high control accuracy through automated algorithms
4Productivity
If proprietary control systems are used, then system performance is improved, but adaptability to different sensors and platforms deteriorates
Solution Approach 1:
The patent implements a universal control architecture that maintains high performance while supporting multiple sensor types and robotic platforms. The system uses standardized communication protocols and modular design principles, allowing the same control software to efficiently manage different hardware configurations without sacrificing performance or requiring proprietary integrations
Data Source
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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.