Proximity-Based Binding

Abstract

Example implementations may relate to a computing device configured to operate a robotic system. In particular, the device receives input data that is generated by a hand-holdable controller including a knob, where the knob includes touch sensors arranged to detect touch on surfaces of the knob. Based on the input data, the device detects that the controller is within a first threshold distance from a first component of the robotic system and responsively operates the first component of the robotic system based on the input data. The device then receives subsequent input data that is generated by the controller. Based on the subsequent input data, the device subsequently detects that the controller is within a second threshold distance from a second component of the robotic system and responsively operates the second component of the robotic system based on the subsequent input data.

We claim: 
     
         1 . A method comprising:
 detecting that a controller comprising a rotatable knob is within at least a first threshold distance from a first component of a robotic system and responsively (i) operating at least the first component of the robotic system based on input data generated by the controller and (ii) causing the controller to adjust characteristics of rotation of the rotatable knob based on the first component; and   subsequently detecting that the controller is within at least a second threshold distance from a second component of the robotic system and responsively (i) operating at least the second component of the robotic system based on subsequent input data generated by the controller and (ii) causing the controller to adjust characteristics of rotation of the rotatable knob based on the second component.   
     
     
         2 . The method of  claim 1 , further comprising:
 further in response to subsequently detecting that the controller is within at least a second threshold distance from a second component of the robotic system, ceasing the operating of the first component of the robotic system.   
     
     
         3 . The method of  claim 1 , further comprising:
 subsequently detecting that the controller is at least a third threshold distance away from the second component and responsively ceasing the operating of the second component of the robotic system.   
     
     
         4 . The method of  claim 1 ,
 wherein the controller further comprises a motor coupled to the rotatable knob,   wherein causing the controller to adjust characteristics of rotation of the rotatable knob based on the first component comprises causing the motor to apply one or more torques to the rotatable knob in accordance with a first operational mode selected based on the first component, and   wherein causing the controller to adjust characteristics of rotation of the rotatable knob based on the second component comprises causing the motor to apply one or more torques to the rotatable knob in accordance with a second operational mode selected based on the second component.   
     
     
         5 . The method of  claim 4 ,
 wherein applying one or more torques to the rotatable knob in accordance with the first operational mode comprises applying one or more torques to the rotatable knob in accordance with a first torque profile arranged to represent characteristics of the first component, and   wherein applying one or more torques to the rotatable knob in accordance with the second operational mode comprises applying one or more torques to the rotatable knob in accordance with a second torque profile arranged to represent characteristics of the second component.   
     
     
         6 . The method of  claim 5 ,
 wherein applying one or more torques to the rotatable knob in accordance with the first torque profile comprises applying one or more first torques to the rotatable knob based on one or more first external forces applied to cause rotation of the rotatable knob, and   wherein applying one or more torques to the rotatable knob in accordance with the second torque profile comprises applying one or more second torques to the rotatable knob based on one or more second external forces applied to cause rotation of the rotatable knob.   
     
     
         7 . The method of  claim 1 ,
 wherein the first component comprises a first actuator corresponding to a first joint of the robotic system,   wherein operating at least the first component of the robotic system comprises operating the first actuator to rotate the first joint based on a first rotation of the rotatable knob,   wherein the second component comprises a second actuator corresponding to a second joint of the robotic system, and   wherein operating at least the second component of the robotic system comprises operating the second actuator to rotate the second joint based on a second rotation of the rotatable knob.   
     
     
         8 . The method of  claim 1 , wherein the second component comprises a second actuator corresponding to a second joint of the robotic system, and wherein operating at least the second component of the robotic system comprises operating the second actuator to rotate the second joint based on a second rotation of the rotatable knob, the method further comprising:
 detecting that the rotating of the second joint exceeds a joint limit of the second joint by at least a threshold amount and responsively providing feedback using controller.   
     
     
         9 . The method of  claim 8 , wherein the joint limit comprises one or more of: (i) a torque limit, (ii) a velocity limit, (iii) an acceleration limit, (iv) a power limit, (v) entry of the robotic system to a non-permissible zone during the operating of the second component, and (vi) a restriction to the rotation of the second joint. 
     
     
         10 . The method of  claim 8 , wherein the feedback comprises one or more of: (i) vibrational feedback (ii) resistance to rotation of the rotatable knob; and (iii) rotational feedback provided through application of torque to the rotatable knob. 
     
     
         11 . The method of  claim 1 , further comprising:
 detecting a power-off event of the controller and responsively storing information related to a most recent configuration, wherein the most recent configuration corresponds to the operating of the second component of the robotic system; and   subsequently detecting a power-on event of the controller and responsively operating the robotic system in accordance with the most recent configuration.   
     
     
         12 . A system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 detect that a controller including a rotatable knob is within at least a first threshold distance from a first component of a robotic system and responsively (i) operate at least the first component of the robotic system based on input data generated by the controller and (ii) cause the controller to adjust characteristics of rotation of the rotatable knob based on the first component; and 
 subsequently detect that the controller is within at least a second threshold distance from a second component of the robotic system and responsively (i) operate at least the second component of the robotic system based on subsequent input data generated by the controller and (ii) cause the controller to adjust characteristics of rotation of the rotatable knob based on the second component. 
   
     
     
         13 . The system of  claim 12 , wherein the system is the controller, and wherein the one or more processors, the non-transitory computer readable medium, and the program instructions are part of the controller. 
     
     
         14 . The system of  claim 12 , wherein the program instructions are further executable to:
 in response to subsequently detecting that the controller is within at least a second threshold distance from a second component of the robotic system, cease the operating of the first component of the robotic system.   
     
     
         15 . The system of  claim 12 , wherein the program instructions are further executable to:
 subsequently detect that the controller is at least a third threshold distance away from the second component and responsively cease the operating of the second component of the robotic system.   
     
     
         16 . The system of  claim 12 ,
 wherein the controller further includes a motor coupled to the rotatable knob,   wherein causing the controller to adjust characteristics of rotation of the rotatable knob based on the first component comprises causing the motor to apply one or more torques to the rotatable knob in accordance with a first operational mode selected based on the first component, and   wherein causing the controller to adjust characteristics of rotation of the rotatable knob based on the second component comprises causing the motor to apply one or more torques to the rotatable knob in accordance with a second operational mode selected based on the second component.   
     
     
         17 . The system of  claim 16 ,
 wherein applying one or more torques to the rotatable knob in accordance with the first operational mode comprises applying one or more torques to the rotatable knob in accordance with a first torque profile arranged to represent characteristics of the first component, and   wherein applying one or more torques to the rotatable knob in accordance with the second operational mode comprises applying one or more torques to the rotatable knob in accordance with a second torque profile arranged to represent characteristics of the second component.   
     
     
         18 . The system of  claim 17 ,
 wherein applying one or more torques to the rotatable knob in accordance with the first torque profile comprises applying one or more first torques to the rotatable knob based on one or more first external forces applied to cause rotation of the rotatable knob, and   wherein applying one or more torques to the rotatable knob in accordance with the second torque profile comprises applying one or more second torques to the rotatable knob based on one or more second external forces applied to cause rotation of the rotatable knob.   
     
     
         19 . The system of  claim 12 ,
 wherein the first component comprises a first actuator corresponding to a first joint of the robotic system,   wherein operating at least the first component of the robotic system comprises operating the first actuator to rotate the first joint based on a first rotation of the rotatable knob,   wherein the second component comprises a second actuator corresponding to a second joint of the robotic system, and   wherein operating at least the second component of the robotic system comprises operating the second actuator to rotate the second joint based on a second rotation of the rotatable knob.   
     
     
         20 . A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a controller to perform functions, wherein the controller comprises a rotatable knob, the functions comprising:
 detecting that the controller is within at least a first threshold distance from a first component of a robotic system and responsively (i) operating at least the first component of the robotic system based on input data generated by the controller and (ii) causing the controller to adjust characteristics of rotation of the rotatable knob based on the first component; and   detecting that the controller is within at least a second threshold distance from a second component of the robotic system and responsively (i) operating at least the second component of the robotic system based on subsequent input data generated by the controller and (ii) causing the controller to adjust characteristics of rotation of the rotatable knob based on the second component.