Title:
ロボットを制御するための方法及びロボットコントローラ
Document Type and Number:
Japanese Patent JP7387920
Kind Code:
B2
Abstract:
A method for controlling a robot. The method includes providing demonstrations for performing each of a plurality of skills; training from the demonstrations, a robot trajectory model for each skill, each trajectory model is a hidden semi-Markov model having one or more initial states and one or more final states; training, from the demonstrations, a precondition model for each skill comprising, for each initial state, a probability distribution of robot configurations before executing the skill, and a final condition model for each skill comprising, for each final state, a probability distribution of robot configurations after executing the skill; receiving a description of a task, the task includes performing the skills of the plurality of skills in sequence and/or branches; generating a composed robot trajectory model; and controlling the robot according to the composed robot trajectory model to execute the task.
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Inventors:
Matthias Buerger
Menguo
Menguo
Application Number:
JP2022574467A
Publication Date:
November 28, 2023
Filing Date:
May 06, 2021
Export Citation:
Assignee:
ROBERT BOSCH GMBH
International Classes:
B25J9/22; G05B19/42
Domestic Patent References:
| JP200966692A |
Foreign References:
| US20130151442 | ||||
| US20200398427 |
Attorney, Agent or Firm:
Einzel Felix-Reinhard
Taku Morita
Junichi Maekawa
Hideo Nagashima
Ueshima class
Taku Morita
Junichi Maekawa
Hideo Nagashima
Ueshima class