ROBOTIC HANDOVER SYSTEM NATURAL FOR HUMANS

摘要

The disclosure includes a system and method for determining posture data for a user based on observation of the user, generating user model data describing one or more user models, determining user preferences data describing the preferences of the user for receiving an object, generating two or more reach simulations that simulate the user reaching for different points inside a user environment to receive the object, each reach simulation resulting in a hand of the user arriving at a three-dimensional point in the user environment, analyzing the reach simulations to assign a value to each three-dimensional point in the user environment, grouping the three-dimensional points into one or more clusters of similar points to form candidate zones including one or more points inside the user environment where a robot can place the object for handover to the user, and ranking the candidate zones.

主权项

1. A method comprising:
determining, by a processor programmed to do the determining, posture data for a user based on observation of the user, the posture data describing the posture of the user when reaching for one or more locations; generating user model data describing one or more user models based on the posture data and user data describing the height and weight for the user; determining user preferences data describing the preferences of the user for receiving an object; generating two or more reach simulations that simulate the user reaching for different points inside a user environment to receive the object, each reach simulation resulting in a hand of the user arriving at a three-dimensional point in the user environment and moments being applied to the joints of the user; analyzing the reach simulations to assign a value to each three-dimensional point in the user environment, each value being based on the moments applied to the joints of the user when reaching to that three-dimensional point and whether the three-dimensional point is consistent with the user preferences for receiving the object; grouping the three-dimensional points into one or more clusters of similar points to form candidate zones including one or more points inside the user environment where a robot can place the object for handover to the user; and ranking the candidate zones based on the values and storing the ranked candidate zones are zone data.