Systems and methods of detecting intent of spatial control
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.
1 . A method of detecting an intent of vehicle control, the method comprising:
receiving data representative of a desired motion of at least a portion of a vehicle;
computing, from the data, an initial desired velocity vector representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle;
identifying, from a set of principal axis directions that are parallel to principal axes, a nearest principal axis direction based on comparing a direction of the initial desired velocity vector with the set of principal axis directions;
computing a misalignment angle that represents a deviation in the direction of the initial desired velocity vector from the nearest principal axis direction;
upon determining that the misalignment angle matches an axis-snapping tolerance value, defining a final desired velocity vector by changing the initial desired velocity vector such that the final desired velocity vector is parallel to the nearest principal axis direction; and
causing at least the portion of the vehicle to move according to the final desired velocity vector.
2 . The method of claim 1 , wherein at least the portion of the vehicle is remotely located from a device generating the data, and wherein causing at least the portion of the vehicle to move according to the final desired velocity vector comprises sending the final desired velocity vector over a wired network connection or a wireless network connection.
3 . The method of claim 1 , further comprising:
upon determining that the misalignment angle does not match the axis-snapping tolerance value, defining the final desired velocity vector equal to the initial desired velocity vector.
4 . The method of claim 1 , further comprising transforming the initial desired velocity vector from a global reference frame into a control reference frame by selecting the control reference frame from one of: a first reference frame of a device that provides the data, a second reference frame of a user interface, or a third reference frame of at least the portion of the vehicle.
5 . The method of claim 1 , wherein causing at least the portion of the vehicle to move according to the final desired velocity vector comprises sending information indicating the final desired velocity vector, wherein the final desired velocity vector is transformed into a reference frame of at least the portion of the vehicle.
6 . A method of detecting an intended regime of a velocity command, the method comprising:
receiving data representative of a desired motion of at least a portion of a vehicle;
compute, from the data, a desired linear velocity vector and a desired angular velocity vector of at least the portion of the vehicle;
compute a linear ratio by applying a first magnitude of the desired linear velocity vector to a linear magnitude threshold and an angular ratio by applying a second magnitude of the desired angular velocity vector to an angular magnitude threshold;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired linear velocity vector, ignoring the desired linear velocity vector;
upon determining that the linear ratio or the angular ratio satisfies the one or more rules associated with the desired angular velocity vector, ignoring the desired angular velocity vector; and
causing at least the portion of the vehicle to move according to the desired linear velocity vector or the desired angular velocity vector.
7 . The method of claim 6 , wherein sending the data indicating the desired linear velocity vector and the desired angular velocity vector includes: transforming the desired linear velocity vector and the desired angular velocity vector into a reference frame defined with respect to at least the portion of the vehicle.
8 . The method of claim 6 , wherein ignoring the desired linear velocity vector and/or ignoring the desired angular velocity vector includes: setting the desired linear velocity vector and/or the desired angular velocity vector to zero.
9 . The method of claim 6 , wherein the desired linear velocity vector and/or the desired angular velocity vector are represented in at least one of: a 1-dimensional space, a 2-dimensional space, or a 3-dimensional space.
10 . The method of claim 6 , wherein the data is gesture data that includes at least one linear degree-of-freedom and at least one angular degree-of-freedom.
11 . The method of claim 6 , wherein the one or more rules associated with the desired linear velocity vector include a rule to determine whether the linear ratio is less than 1 and also less than the angular ratio.
12 . The method of claim 6 , wherein the one or more rules associated with the desired angular velocity vector include a rule to determine whether the angular ratio is less than 1 and also less than the linear ratio.
13 . One or more non-transitory computer-readable media storing instructions that when executed by one or more processors perform operations comprising:
receiving data representative of a desired motion of at least a portion of a vehicle;
compute, from the data, a desired linear velocity vector and a desired angular velocity vector of at least the portion of the vehicle;
compute a linear ratio by applying a first magnitude of the desired linear velocity vector to a linear magnitude threshold and an angular ratio by applying a second magnitude of the desired angular velocity vector to an angular magnitude threshold;
upon determining that the linear ratio or the angular ratio satisfies one or more rules associated with the desired linear velocity vector, ignoring the desired linear velocity vector;
upon determining that the linear ratio or the angular ratio satisfies the one or more rules associated with the desired angular velocity vector, ignoring the desired angular velocity vector; and
causing at least the portion of the vehicle to move according to the desired linear velocity vector or the desired angular velocity vector.
14 . The one or more non-transitory computer-readable media of claim 13 , wherein the instructions for sending the data indicating the desired linear velocity vector and the desired angular velocity vector include instructions for: transforming the desired linear velocity vector and the desired angular velocity vector into a reference frame defined with respect to at least the portion of the vehicle.
15 . The one or more non-transitory computer-readable media of claim 13 , wherein the instructions for ignoring the desired linear velocity vector and/or ignoring the desired angular velocity vector include instructions for setting the desired linear velocity vector and/or the desired angular velocity vector to zero.
16 . The one or more non-transitory computer-readable media of claim 13 , wherein the desired linear velocity vector and/or the desired angular velocity vector are represented in at least one of: a 1-dimensional space, a 2-dimensional space, or a 3-dimensional space.
17 . The one or more non-transitory computer-readable media of claim 13 , wherein the data includes at least one linear degree-of-freedom and at least one angular degree-of-freedom.
18 . The one or more non-transitory computer-readable media of claim 13 , wherein the one or more rules associated with the desired linear velocity vector include a rule to determine whether the linear ratio is less than 1 and also less than the angular ratio.
19 . The one or more non-transitory computer-readable media of claim 13 , wherein the one or more rules associated with the desired angular velocity vector include a rule to determine whether the angular ratio is less than 1 and also less than the linear ratio.
20 . The one or more non-transitory computer-readable media of claim 13 , wherein at least the portion of the vehicle is remotely located from a device generating the data, and wherein the data is sent via a wired network connection or a wireless network connection.