公开(公告)号：US20220184803A1

公开(公告)日：2022-06-16

申请号：US17687409

申请日：2022-03-04

申请人： The Johns Hopkins University

发明人： Kelleher Guerin ,  Gregory D. Hager

IPC分类号： B25J9/16

摘要： System and methods to create an immersive virtual environment using a virtual reality system that receives parameters corresponding to a real-world robot. The real-world robot may be simulated to create a virtual robot based on the received parameters. The immersive virtual environment may be transmitted to a user. The user may supply input and interact with the virtual robot. Feedback such as the current state of the virtual robot or the real-world robot may be provided to the user. The user may train the virtual robot. The real-world robot may be programmed based on the virtual robot training.

公开(公告)号：US10384357B2

公开(公告)日：2019-08-20

申请号：US15251736

申请日：2016-08-30

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin

IPC分类号： B25J15/04 ,  B25J19/00

摘要： An attachment device includes a robot-engaging portion having a recess formed in an outer surface thereof for receiving a finger of a robot. The attachment device also includes a tool-engaging portion coupled to the robot-engaging portion. The tool-engaging portion is configured to be coupled to a tool that is to be used by the robot to perform a task. A damping member is positioned at least partially between the robot-engaging portion and the tool-engaging portion. The damping member is configured to be adjusted to vary a magnitude of oscillations that are transferred from the tool-engaging portion to the robot-engaging portion.

公开(公告)号：US11097415B2

公开(公告)日：2021-08-24

申请号：US16520873

申请日：2019-07-24

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory Hager

IPC分类号： B25J9/16 ,  G05B19/409

摘要： Methods and systems for connection-driven generation of robotic user interfaces and modification of robotic properties include detecting a connection of a robotic peripheral to a robot; obtaining a peripheral property set corresponding to the robotic peripheral, wherein the peripheral property set includes one or more properties of the robotic peripheral; modifying, based on the peripheral property set, a robotic property set that includes one or more properties of the robot to provide a modified robotic property set; generating, during runtime, a robotic graphical user interface (“RGUI”) dynamically based on the peripheral property set, wherein the RGUI provides at least one user-accessible interface to control the robot and the robotic peripheral; and controlling, based on the modified robotic property set, the robot and the robotic peripheral in response to user input received via the RGUI.

公开(公告)号：US20160257000A1

公开(公告)日：2016-09-08

申请号：US14638973

申请日：2015-03-04

申请人： The Johns Hopkins University

发明人： Kelleher Guerin ,  Gregory D. Hager

IPC分类号： B25J9/16 ,  B25J9/00

CPC分类号： B25J9/1605 ,  B25J9/1671 ,  G05B2219/40131 ,  G05B2219/45097 ,  Y10S901/05

摘要： System and methods to create an immersive virtual environment using a virtual reality system that receives parameters corresponding to a real-world robot. The real-world robot may be simulated to create a virtual robot based on the received parameters. The immersive virtual environment may be transmitted to a user. The user may supply input and interact with the virtual robot. Feedback such as the current state of the virtual robot or the real-world robot may be provided to the user. The user may train the virtual robot. The real-world robot may be programmed based on the virtual robot training.

摘要翻译： 使用接收与真实世界机器人对应的参数的虚拟现实系统来创建沉浸式虚拟环境的系统和方法。 可以模拟真实世界的机器人，以基于接收的参数来创建虚拟机器人。 沉浸式虚拟环境可以被传送给用户。 用户可以提供输入并与虚拟机器人交互。 可以向用户提供诸如虚拟机器人或真实世界机器人的当前状态的反馈。 用户可以训练虚拟机器人。 可以基于虚拟机器人训练对现实世界的机器人进行编程。

公开(公告)号：US09272418B1

公开(公告)日：2016-03-01

申请号：US14475184

申请日：2014-09-02

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory D. Hager ,  Sebastian Riedel

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1664 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1661 ,  B25J13/00 ,  G05B2219/33051 ,  G05B2219/36422 ,  G05B2219/39365 ,  G05B2219/40118 ,  G05B2219/40122 ,  G05B2219/40131 ,  G05B2219/40391 ,  Y10S901/02 ,  Y10S901/04 ,  Y10S901/46

摘要： Methods and systems for enabling human-machine collaborations includes a generalizable framework that supports dynamic adaptation and reuse of robotic capability representations and human-machine collaborative behaviors. Specifically, a computer-implemented method of enabling user-robot collaboration includes providing a composition of user interaction capabilities and a robot capability that models a functionality of a robot for performing a type of task action based on a set of parameters; specializing the robot capability with an information kernel that encapsulates the set of parameters; providing a robot capability element based on the robot capability and the information kernel and interaction capability elements based on the user interaction capabilities; connecting the robot capability element to the interaction capability elements; providing, based on the interaction capability elements, user interfaces to acquire user input associated with the set of parameters; and controlling, based on the user input and the information kernel, the functionality of the robot via the robot capability element to perform a task action of the type of task action.

摘要翻译： 实现人机协作的方法和系统包括支持机器人能力表征和人机协作行为的动态适应和重用的可概括的框架。 具体地，启用用户 - 机器人协作的计算机实现的方法包括提供用户交互能力的组合和机器人能力，其对基于一组参数的执行任务动作类型的机器人的功能进行建模; 使用封装参数集的信息核心来专门化机器人功能; 基于用户交互能力，提供基于机器人能力的机器人能力元素和信息内核和交互能力元素; 将机器人能力元素连接到交互能力元素; 基于所述交互能力元素提供用户接口以获取与所述一组参数相关联的用户输入; 以及基于所述用户输入和所述信息内核，经由所述机器人能力元素来控制所述机器人的功能，以执行所述任务动作类型的任务动作。

公开(公告)号：US11279022B2

公开(公告)日：2022-03-22

申请号：US16433162

申请日：2019-06-06

申请人： The Johns Hopkins University

发明人： Kelleher Guerin ,  Gregory D. Hager

IPC分类号： B25J9/16

摘要： System and methods to create an immersive virtual environment using a virtual reality system that receives parameters corresponding to a real-world robot. The real-world robot may be simulated to create a virtual robot based on the received parameters. The immersive virtual environment may be transmitted to a user. The user may supply input and interact with the virtual robot. Feedback such as the current state of the virtual robot or the real-world robot may be provided to the user. The user may train the virtual robot. The real-world robot may be programmed based on the virtual robot training.

公开(公告)号：US10807237B2

公开(公告)日：2020-10-20

申请号：US16008451

申请日：2018-06-14

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory D. Hager ,  Sebastian Riedel

IPC分类号： B25J9/16 ,  B25J13/00

摘要： Methods and systems for enabling human-machine collaborations include a generalizable framework that supports dynamic adaptation and reuse of robotic capability representations and human-machine collaborative behaviors. Specifically, a method of feedback-enabled user-robot collaboration includes obtaining a robot capability that models a robot's functionality for performing task actions, specializing the robot capability with an information kernel that encapsulates task-related parameters associated with the task actions, and providing an instance of the specialized robot capability as a robot capability element that controls the robot's functionality based on the task-related parameters. The method also includes obtaining, based on the robot capability element's user interaction requirements, user interaction capability elements, via which the robot capability element receives user input and provides user feedback, controlling, based on the task-related parameters, the robot's functionality to perform the task actions in collaboration with the user input; and providing the user feedback including task-related information generated by the robot capability element in association with the task actions.

公开(公告)号：US10399220B2

公开(公告)日：2019-09-03

申请号：US15342053

申请日：2016-11-02

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory Hager

IPC分类号： B25J9/16 ,  G05B19/409

摘要： Methods and systems for connection-driven generation of robotic user interfaces and modification of robotic properties include detecting a connection of a robotic peripheral to a robot; obtaining a peripheral property set corresponding to the robotic peripheral, wherein the peripheral property set includes one or more properties of the robotic peripheral; modifying, based on the peripheral property set, a robotic property set that includes one or more properties of the robot to provide a modified robotic property set; generating, during runtime, a robotic graphical user interface (“RGUI”) dynamically based on the peripheral property set, wherein the RGUI provides at least one user-accessible interface to control the robot and the robotic peripheral; and controlling, based on the modified robotic property set, the robot and the robotic peripheral in response to user input received via the RGUI.

公开(公告)号：US11712800B2

公开(公告)日：2023-08-01

申请号：US17403143

申请日：2021-08-16

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory Hager

IPC分类号： B25J9/16 ,  G05B19/409

CPC分类号： B25J9/161 ,  B25J9/1671 ,  G05B19/409 ,  G05B2219/40095 ,  G05B2219/40099

摘要： Methods and systems for connection-driven generation of robotic user interfaces and modification of robotic properties include detecting a connection of a robotic peripheral to a robot; obtaining a peripheral property set corresponding to the robotic peripheral, wherein the peripheral property set includes one or more properties of the robotic peripheral; modifying, based on the peripheral property set, a robotic property set that includes one or more properties of the robot to provide a modified robotic property set; generating, during runtime, a robotic graphical user interface (“RGUI”) dynamically based on the peripheral property set, wherein the RGUI provides at least one user-accessible interface to control the robot and the robotic peripheral; and controlling, based on the modified robotic property set, the robot and the robotic peripheral in response to user input received via the RGUI.

公开(公告)号：US11100791B2

公开(公告)日：2021-08-24

申请号：US16854779

申请日：2020-04-21

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Kelleher Guerin ,  Gregory Hager

IPC分类号： G08C17/02 ,  G05B19/409

摘要： Provided is a method, device, and computer-readable medium for controlling a robot graphic user interface (“RGUI”) on a mobile device. The method can include determining a distance, a position, or both of the mobile device with respect to a first robot; and causing, by a processor, a first RGUI to be displayed on a display of the mobile device based on the determining.