Reduced degree of freedom robotic controller apparatus and methods

Abstract

Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.

What is claimed is: 
     
         1 . User interface apparatus for use with a robotic apparatus having a controller, the user interface apparatus comprising:
 user input apparatus; and   first computerized logic in data communication with the input apparatus and configured to, as part of a first operational iteration, provide an input to the controller, the input associated with operation of one of first and second degrees of freedom of the robotic apparatus;   wherein the input is configured to enable the controller to produce:
 a first control signal to control the first degree of freedom; and 
 a second control signal to control the second degree of freedom, the second control signal being determined based at least on another input being provided via the input apparatus at another iteration, the another input being associated with the second degree of freedom; and 
   wherein the given iteration and the another iteration are characterized by an empty intersection.   
     
     
         2 . The apparatus of  claim 1 , further comprising switching logic, wherein the switching logic comprises one or more of: (i) a button, (ii) a switch, (iii) a timer, (iv) condition determination logic, (v) logic configured to determine a state of the robotic apparatus, (vi) performance measurement determination logic; and/or (vii) an audio indication detection logic. 
     
     
         3 . The apparatus of  claim 1 , wherein:
 the first control signal is generated contemporaneous with provision of the input; and   the interface apparatus is selected from a group consisting of a joystick, a slider, a touch interface, and audio interface.   
     
     
         4 . A method of training an adaptive controller apparatus of a robot, the robot comprising first and second degrees of freedom, the method comprising:
 during a first operational iteration:
 causing the apparatus to produce a first control signal based at least on a context and a first training input, the first control signal being configured to operate the first degree of freedom to execute a first action; and; 
 causing the apparatus to adjust a learning parameter based at least on a first performance relating to the first action and a target action; and 
   during a subsequent iteration:
 causing the apparatus to produce a second control signal based at least on the context and a second training input, the second control signal being configured to operate the second degree of freedom; and 
 causing the apparatus to produce a third control signal based at least on the context and the adjusted learning parameter, the third control signal being configured to operate the first degree of freedom; 
   wherein the second and the third control signals cooperate to cause execution of the target action.   
     
     
         5 . The method of  claim 4 , wherein the first and the second training input are provided by a human trainer via a remote interface control element configured to control at least one of the first or the second degree of freedom at a given time. 
     
     
         6 . The method of  claim 5 , wherein the third control signal is produced only absent input related to the first degree of freedom operation being provided by the trainer during the subsequent iteration. 
     
     
         7 . The method of  claim 5 , wherein the first control signal is determined based at least on a collaboration between the trainer and the adaptive controller, the collaboration characterized by a transfer function configured to combine the first teaching input and an output of the adaptive controller during the first iteration, the combination configured to produce the first control signal. 
     
     
         8 . The method of  claim 7 , wherein the combination is configured based on one or more of an additive operation and a union operation. 
     
     
         9 . The method of  claim 4 , wherein the target action execution is configured based at least on a contemporaneous operation of the first and the second degree of freedom at a given time. 
     
     
         10 . The method of  claim 4 , wherein the second training input is configured based at least on the first degree of freedom state determined in accordance with the third control signal. 
     
     
         11 . The method of  claim 10 , wherein:
 the third training input is configured by the controller based on the second degree of freedom state determined in accordance with the second control signal; and   the second training input is configured based on performance measure associated with execution of the target action.   
     
     
         12 . The method of  claim 10 , wherein the third training input comprises a replay, during the second iteration, of the first training input provided during the first iteration. 
     
     
         13 . The method of  claim 4 , wherein the third control signal is determined based at least on based adaptation of the learning parameter configured to occur between the first and the second iteration. 
     
     
         14 . A robotic apparatus comprising:
 a platform characterized by at least first and second degrees of freedom; and   an adaptive controller apparatus configured to generate first and a second control signals adapted to operate the first and the second degrees of freedom, respectively;   wherein:
 the first and the second control signals are configured to cause the platform to perform a target action; and 
 the operation of a given one of the first or the second degrees of freedom is configured based at least on a training input associated with the given degree of freedom. 
   
     
     
         15 . The apparatus of  claim 14 , wherein the adaptive controller apparatus is operable in accordance with a supervised learning process configured to produce one of the first or the second control signals at a given iteration based on at least the training input. 
     
     
         16 . The apparatus of  claim 14 , wherein:
 the target action comprises a trajectory having a duration associated therewith; and   provision of the training input comprises a time interval that is shorter than the duration.   
     
     
         17 . The apparatus of  claim 14 , wherein:
 the target action is characterized by at least a sensory context being provided to the adaptive controller; and   the first or the second control signals are being determined based at least on a combination of the training input and controller output determined by the learning process in accordance with the context.   
     
     
         18 . The apparatus of  claim 14 , further comprising:
 a camera disposed on the platform;   wherein:
 the platform comprises a mobile platform configured to house the adaptive controller apparatus; 
 the sensory context is being based on a visual input comprising a plurality of pixels provided by the camera, and 
 execution of the target task is based on a displacement of the platform in at least one spatial dimension. 
   
     
     
         19 . The apparatus of  claim 14 , wherein:
 a performance measure associated with execution of the target task absent the training input is smaller in magnitude than the performance measure determined based on the target task execution in accordance with the training input.   
     
     
         20 . The apparatus of  claim 14 , wherein:
 the training input is associated with the first degree of freedom operation;   the first control signal is determined based at least on an adjustment of a learning parameter of the learning process based on the training input; and   the second control signal is determined based at least on an adjustment of the learning parameter based on another training input, the another training input associated with the second degree of freedom operation.