Toyota Research Institute, Inc.

Sam Zapolsky

Allison Thackston

Ron Goldman

Laura Stelzner

Katarina Bouma

A method includes providing a virtual representation of an environment of a robot, the virtual representation including an object representation of an object in the environment. The method further includes receiving manipulation input from a user to teleoperate the robot for manipulation of the object. The method also includes alerting the user to an alignment dimension based upon the manipulation input, receiving confirmation input from the user to engage the alignment dimension, and constraining at least one dimension of movement of the object according to the alignment dimension.

Systems and methods for dimensionally-restricted robotic teleoperation

A method includes providing a virtual representation of an environment of a robot. The virtual representation includes an object representation of an object in the environment. The method further includes determining an attribute of the object within the environment of the robot. The attribute includes at least one of occupancy data, force data, and deformation data pertaining to the object. The method further includes receiving a user command to control the robot to move with respect to the object, and modifying a received user command pertaining to the representation of the object based upon the attribute.

Systems and methods for conditional robotic teleoperation

A method includes detecting an object in a real environment of a robot. The method further includes inferring an expected property of the object based upon a representation of the object within a representation of the real environment of the robot. The method also includes sensing, via a sensor of the robot, a presently-detected property of the object in the real environment corresponding to the expected property. The method still further includes detecting a conflict between the expected property of the object and the presently-detected property of the object.

Systems and methods for na&#xef;ve physics for contact and contact-awareness in robotic teleoperation

A method includes 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, and upon conclusion of the period of latency, reconciling the predicted version of the virtual representation with current data pertaining to the environment of the robot.

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Sam Zapolsky