Systems and methods for latency compensation in robotic teleoperation

1. A method comprising:

presenting a virtual representation of an environment of a robot;

receiving a first user command to control the robot within the environment;

rendering a predicted version of the virtual representation during a period of latency in which current data pertaining to the environment of the robot is not available;

updating the predicted version of the virtual representation based upon a second user command received during the period of latency, wherein the second user command relates to directing the robot to manipulate an object in the environment of the robot;

receiving, during the period of latency, a third user command to complete interaction of the robot with the object in the environment;

simulating completion of the interaction of the robot with the object; and

upon conclusion of the period of latency, reconciling (i) the predicted version of the virtual representation with current data pertaining to the environment of the robot and (ii) the predicted version of the object now disengaged from the robot with current data about the object.

2. The method of claim 1 further comprising providing haptic feedback based upon a predicted state of the robot within the predicted version of the virtual representation during the period of latency for which the current data is not available.

3. The method of claim 1 further comprising providing audio feedback based upon a predicted state of the robot within the predicted version of the virtual representation during the period of latency for which the current data is not available.

4. The method of claim 1 wherein the second user command to control the robot is not related to the motility of the robot and differs from the first user command.

5. The method of claim 1 wherein the predicted version of the virtual representation is rendered during the period of latency utilizing preexisting data pertaining to the environment of the robot.

6. The method of claim 1 wherein the period of latency is a first period of latency having a duration that differs from a second duration of a second period of latency.

7. A method comprising:

presenting a virtual representation of an environment of a robot;

receiving a first user command to control the robot within the environment;

rendering a first predicted version of the virtual representation during a first period of latency in which current data pertaining to the environment of the robot is not available, wherein the first period of latency has a duration that differs from a second duration of a second period of latency, wherein the first predicted version of the virtual representation is reconciled with the current data at the expiration of the first duration;

rendering a second predicted version of the virtual representation during the second period of latency in which current data pertaining to the environment of the robot is not available;

updating the first predicted version of the virtual representation based upon a second user command received during the first period of latency;

upon conclusion of the first period of latency, reconciling the first predicted version of the virtual representation with current data pertaining to the environment of the robot; and

subsequent to the reconciliation of the first predicted version at the expiration of the first duration, reconciling the second predicted version of the virtual representation with second received data corresponding to expiration of the first duration.

8. The method of claim 1 further comprising reconciling the predicted version of the virtual representation based upon the current data and data corresponding to the latency period pertaining to the environment of the robot.

9. An interface device comprising:

memory; and

a processor coupled to the memory, the processor being configured to:

present a virtual representation of an environment of a robot;

receive a first user command to control the robot within the environment;

render a predicted version of the virtual representation during a period of latency in which current data pertaining to the environment of the robot is not available;

update the predicted version of the virtual representation based upon a second user command received during the period of latency;

receive, during the period of latency, a third user command to complete interaction of the robot with the object in the environment;

simulate completion of the interaction of the robot with the object; and

upon conclusion of the period of latency, reconcile (i) the predicted version of the virtual representation with current data pertaining to the environment of the robot and (ii) the predicted version of the object now disengaged from the robot with current data about the object.

10. The system of claim 9 wherein the processor is further configured to provide haptic feedback based upon a predicted state of the robot within the predicted version of the virtual representation during the period of latency for which the current data is not available.

11. The system of claim 9 wherein the processor is further configured to provide audio feedback based upon a predicted state of the robot within the predicted version of the virtual representation during the period of latency for which the current data is not available.

12. The system of claim 9 wherein the second user command relates to directing the robot to manipulate an object in the environment of the robot.

13. The system of claim 9 wherein the second user command to control the robot is not related to the motility of the robot and differs from the first user command.

14. The system of claim 9 wherein the processor is further configured to render the predicted version of the virtual representation during the period of latency utilizing preexisting data pertaining to the environment of the robot.

15. The system of claim 9 wherein the period of latency is a first period of latency having a duration that differs from a second duration of a second period of latency.

16. The system of claim 9 wherein the predicted version of the virtual representation is a first predicted version of the virtual representation reconciled with the current data at the expiration of the first duration, the system being further configured to:

render a second predicted version of the virtual representation during the second period of latency in which current data pertaining to the environment of the robot is not available;

subsequent to the reconciliation of the first predicted version at the expiration of the first duration, reconcile a second predicted version of the virtual representation with second received data corresponding to expiration of the first duration.

17. The system of claim 9 wherein the processor is further configured to reconcile the predicted version of the virtual representation based upon the current data and data corresponding to the latency period pertaining to the environment of the robot.