US 12,311,070 B2
Robotic social interaction
Rodney Allen Brooks, San Francisco, CA (US); Dylan Bourgeois, San Francisco, CA (US); Crystal Chao, San Francisco, CA (US); Alexander Jay Bruen Trevor, San Francisco, CA (US); Mohamed Rabie Amer, San Francisco, CA (US); Anthony Sean Jules, Hillsborough, CA (US); Gary Fred Marcus, Vancouver (CA); and Michelle Ho, San Francisco, CA (US)
Assigned to Robust AI, Inc., San Carlos, CA (US)
Filed by Robust AI, Inc., Palo Alto, CA (US)
Filed on Mar. 19, 2021, as Appl. No. 17/207,207.
Claims priority of provisional application 63/022,349, filed on May 8, 2020.
Claims priority of provisional application 63/022,348, filed on May 8, 2020.
Prior Publication US 2021/0346557 A1, Nov. 11, 2021
Int. Cl. G01C 21/00 (2006.01); A47L 11/40 (2006.01); A61L 2/10 (2006.01); A61L 2/24 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B25J 18/00 (2006.01); G01C 21/20 (2006.01); G02B 3/08 (2006.01); G02B 5/20 (2006.01); G02B 5/26 (2006.01); G02B 26/08 (2006.01); G05D 1/00 (2006.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/689 (2024.01)
CPC A61L 2/24 (2013.01) [A47L 11/4011 (2013.01); A47L 11/405 (2013.01); A61L 2/10 (2013.01); B25J 9/1664 (2013.01); B25J 9/1674 (2013.01); B25J 11/0085 (2013.01); B25J 15/0014 (2013.01); B25J 18/00 (2013.01); G01C 21/206 (2013.01); G02B 3/08 (2013.01); G02B 5/208 (2013.01); G02B 5/26 (2013.01); G02B 26/0875 (2013.01); G05D 1/0094 (2013.01); G05D 1/0214 (2013.01); G05D 1/0246 (2013.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/689 (2024.01); A47L 2201/04 (2013.01); A61L 2202/11 (2013.01); A61L 2202/14 (2013.01); A61L 2202/16 (2013.01); A61L 2202/17 (2013.01); A61L 2202/25 (2013.01); G05B 2219/50391 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method implemented at a robot, the method comprising:
autonomously traversing a physical environment along a first path from a first location to a second location via a mobility apparatus, the first path determined based on sensor data collected from a sensor module at the robot, the sensor data characterizing the physical environment;
autonomously identifying via a processor a human located within the physical environment;
identifying a role associated with the human;
determining a communication mode for communicating with the human based on the identified role;
autonomously determining via the processor a second path through the physical environment, the human being predicted to traverse the second path in the future based on the identified role;
autonomously determining a first one or more future predicted distances between the human and the robot were the robot to follow the first path and were the human to follow the second path;
autonomously determining via the processor that a first predicted distance of the first one or more future predicted distances falls below a designated threshold;
autonomously determining via the processor a third path through the physical environment, the third path ending at the second location, the third path being determined based on the second path so that a second one or more future predicted distances between the human and the robot were the robot to follow the first path and were the human to follow the second path each exceed the designated threshold;
autonomously updating the traversal of the physical environment from the first path to the third path; and
presenting a visual cue indicating a navigational goal for the robot based on the third path and the communication mode.