Vision-Based Robot Teleoperation System
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Solution Overview
Problem
Current systems for generating control commands for robots are resource-intensive and lack efficiency, particularly in complex scenarios, requiring significant computing resources and memory.
Innovation Solution
A unified teleoperation system, referred to as Any Teleop, which utilizes a general and high-performance motion retargeting library to translate human motion into robot motion in real-time, incorporating a collision avoidance module based on geometry queries and supporting diverse robot arm and hand models, camera configurations, and operator-robot partnerships, enabling efficient control across various environments and simulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional control command generation systems are used for complex robots, then the robot can perform complex tasks, but significant computing resources and memory are consumed
Solution Approach 1:
The patent replaces traditional mechanics-based control systems with a vision-based system. Instead of using complex mechanical sensors and control hardware on the robot, the system uses computer vision to capture images of the operator's hands and processes these images to generate robot control commands. This substitution significantly reduces the computing resources required on the robot itself while maintaining full control capability.
Solution Approach 2:
The patent introduces an intermediary vision processing system that acts as a mediator between the operator and the robot. The vision system captures hand movements, processes them through image analysis algorithms, and translates them into robot control commands. This intermediary layer reduces the direct computational burden on the robot by performing preprocessing and command generation externally.
2Ease of operation
If traditional control systems are used, then the robot can be controlled, but the system lacks efficiency and requires significant memory
Solution Approach 1:
The patent replaces memory-intensive traditional control systems with a vision-based processing system. By using image capture and processing to generate control commands, the system reduces memory requirements on the robot while maintaining full control functionality. The vision processing can be performed on standard computing hardware with lower memory demands.
3Reliability
If specialized hardware is used for each robot type, then the robot can be precisely controlled, but the system becomes complex and has hardware-specific dependencies
Solution Approach 1:
The patent creates a universal vision-based control system that can control multiple types of robots through a single interface. The system captures hand movements and processes them to generate commands that can be adapted to different robot types without requiring specialized hardware for each robot. This multi-functional approach maintains control precision while eliminating hardware-specific dependencies.
Solution Approach 2:
The patent uses visual copying of hand movements to control the robot. Instead of requiring direct hardware connections or specialized controllers for each robot type, the system captures the operator's hand movements through vision and creates control commands that replicate these movements. This copying approach provides a unified control method that works across different robot platforms.
Data Source
AI summary
Apparatuses, systems, and techniques to generate control commands. In at least one embodiment, control commands are generated based on, for example, one or more images depicting a hand.