US 12,466,077 B2
System and method for teaching a robot to mimic precise human motions for creation of coffee and beverages
Liu Shuo, Kirkland, OR (US); Xuchu Ding, Seattle, WA (US); Meng Wang, Seattle, WA (US); Yushan Chen, Seattle, WA (US); and Wenbo Yang, Beaverton, OR (US)
Assigned to Blue Hill Tech, Inc., Seattle, WA (US)
Appl. No. 18/273,912
Filed by Blue Hill Tech, Inc., Seattle, WA (US)
PCT Filed May 21, 2021, PCT No. PCT/US2021/033727
§ 371(c)(1), (2) Date Jul. 24, 2023,
PCT Pub. No. WO2021/237130, PCT Pub. Date Nov. 25, 2021.
Claims priority of provisional application 63/028,109, filed on May 21, 2020.
Prior Publication US 2024/0293941 A1, Sep. 5, 2024
Int. Cl. B25J 9/16 (2006.01); A47J 31/52 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B25J 19/02 (2006.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01)
CPC B25J 9/1697 (2013.01) [A47J 31/52 (2013.01); B25J 9/0081 (2013.01); B25J 9/1669 (2013.01); B25J 11/008 (2013.01); B25J 19/023 (2013.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30241 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A method for recording human motion performing a task with a tool and training a robot to perform the task, comprising the steps of:
a. performing tracker calibration without the robot present, comprising the steps of:
i. receiving a first location signal from a first tracking device at a known location;
ii. receiving a second location signal from a second tracking device in close proximity to the tool, where the tool is placed at a tool position and orientation at a tool location;
iii. computing a relative position of the second tracking device based on the first location signal, the second location signal; and
iv. computing a position and orientation of the second tracking device based on the relative position and the known location of the first tracking device;
b. performing teaching tool calibration with the robot present and placed at a predetermined location, comprising the steps of:
i. placing the tool at the tool position and orientation at the tool location;
ii. grasping a portion of the tool with an end-effector of the robot;
iii. computing a position and orientation of the end-effector based on forward kinematics; and
iv. computing a relative position and orientation difference between the end effector and the tool based on the position and orientation of the second tracking device and the position and orientation of the end-effector;
c. performing training without the robot present, comprising the steps of:
i. placing the tool, with a third tracking device affixed thereto, at a predetermined position and orientation;
ii. receiving location information from the third tracking device and recording a motion trajectory of the tool;
iii. transforming the recorded motion trajectory of the tool to a world coordinate system using the position and orientation of the tool; and
iv. transforming the recorded motion trajectory of the tool to a motion trajectory of the end-effector using the relative position and orientation difference.