US 12,226,913 B2
Methods and systems to remotely operate robotic devices
Ajay U. Mandlekar, Stanford, CA (US); Yuke Zhu, Stanford, CA (US); Animesh Garg, Stanford, CA (US); Silvio Savarese, Stanford, CA (US); and Fei-Fei Li, Stanford, CA (US)
Assigned to The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Appl. No. 17/755,587
Filed by The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
PCT Filed Nov. 2, 2020, PCT No. PCT/US2020/058542
§ 371(c)(1), (2) Date May 2, 2022,
PCT Pub. No. WO2021/087455, PCT Pub. Date May 6, 2021.
Claims priority of provisional application 62/929,663, filed on Nov. 1, 2019.
Prior Publication US 2023/0226696 A1, Jul. 20, 2023
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); B25J 13/00 (2006.01)
CPC B25J 9/1689 (2013.01) [B25J 9/1682 (2013.01); B25J 13/006 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system for remotely operating a robotic device, comprising:
a plurality of network-connected robotic devices configured to perform a task;
a coordination server configured to manage a plurality of users by performing the steps of:
matching each of a first set of the plurality of users to a corresponding network-connected robotic device from the plurality of network-connected robotic devices;
creating a teleoperation process for each of the first set of the plurality of users, wherein the teleoperation process receives at least one control command from each user and transmits each user's at least one control command to the corresponding network-connected robotic device;
matching each of a second set of the plurality of users to a corresponding virtual version of the network-connected robotic devices in a simulated domain; and
creating a teleoperation process for each of the second set of the plurality of users, wherein the teleoperation process receives at least one control command from each user and transmits each user's at least one control command to the corresponding virtual version of the network-connected robotic device; and
a data collection server configured to collect data of the control commands of the first and second set of the plurality of users from the teleoperation processes.