Systems and methods for safe robot operation

Abstract

In various embodiments, safe robot operation is achieved by combining commercial, off-the-shelf, safety-rated components with the inherent safety-design mechanism of the robot to provide various allowable power levels to robotic actuators and thereby limit the forces and/or speeds generated by robotic appendages driven by the actuators.

What is claimed is: 
     
         1 .- 13 . (canceled) 
     
     
         14 . A robot comprising:
 a body and, attached thereto, at least one appendage movable with respect thereto;   at least one actuator driving the at least one appendage;   power circuitry for supplying a power to the at least one actuator;   a safety system configured to receive a safety condition associated with the at least one appendage; and   a control unit configured to (i) receive the safety condition from the safety system, (ii) based at least in part thereon, determine an allowable power level of the at least one actuator, and (iii) regulate the power circuitry based on the determined allowable power level.   
     
     
         15 . The robot of  claim 14 , wherein the power circuitry comprises a variable power supply. 
     
     
         16 . The robot of  claim 14 , further comprising a feedback system for monitoring an actual operating power of the actuator. 
     
     
         17 . The robot of  claim 14 , further comprising a user interface for receiving, and transmitting to the safety system, an allowable force and/or allowable speed associated with the at least one appendage. 
     
     
         18 . The robot of  claim 14 , wherein the safety condition comprises at least one of an allowable speed of the at least one appendage or an allowable force that the at least one appendage may apply. 
     
     
         19 . A robot comprising:
 a body and, attached thereto, at least one appendage movable with respect thereto;   at least one actuator driving the at least one appendage;   power circuitry for supplying power to the at least one actuator;   a safety system configured to (i) receive a safety condition associated with the at least one appendage and (ii) based at least in part thereon, determine an allowable power level of the at least one actuator, the allowable power level being sufficient to operate the at least one actuator but limiting an operating speed thereof;   a control unit configured to regulate the power circuitry based on the determined allowable power level; and   a sensor system for detecting objects within the robot's environment,   wherein the control unit is configured to, when an object is detected by the sensor system, decrease the power supplied to the at least one actuator to the allowable power level.   
     
     
         20 . The robot of  claim 19 , wherein the sensor system and the safety system are not configured to monitor (i) an actual operating speed of the at least one appendage and (ii) an actual operating force applied by the at least one appendage. 
     
     
         21 . The robot of  claim 19 , wherein the safety condition comprises at least one of an allowable speed of the at least one appendage or an allowable force that the at least one appendage may apply. 
     
     
         22 . The robot of  claim 21 , further comprising a user interface for receiving, and transmitting to the safety system, the allowable force and/or allowable speed associated with the at least one appendage. 
     
     
         23 . The robot of  claim 19 , wherein the power circuitry comprises a variable power supply. 
     
     
         24 . The robot of  claim 19 , wherein the safety system is configured to determine the allowable power level of the at least one actuator at least in part based on a weight and/or movement pattern of the detected object. 
     
     
         25 . The robot of  claim 19 , wherein the sensor system comprises at least one of a sonar sensor, an optical range sensor, a camera, a microphone or a pressure-sensitive mat. 
     
     
         26 . The robot of  claim 19 , wherein the safety system is further configured to receive a new safety condition associated with the at least one appendage after the robot is confirmed to operate safely. 
     
     
         27 . The robot of  claim 19 , wherein the safety system is further configured to receive, from the control unit, parameters associated with the at least one appendage and the at least one actuator and, based thereon, determine the allowable power level of the at least one actuator.