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Title:
ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2018/042730
Kind Code:
A1
Abstract:
This robot control device is provided with: a storage unit (21) that stores relations between a plurality of first component incomplete assembling states acquired in advance by reinforcement learning and optimal behaviors, of a robot (1), that provide the highest rewards to the respective incomplete assembling states; a force detector (15) that detects the first component incomplete assembling state; and a normal control unit (24) that specifies, on the basis of the relations stored in the storage unit (21), the optimal behavior, of the robot (1), corresponding to the incomplete assembling state detected by the force detector (15) and controls a servo motor (13) in accordance with the optimal behavior. According to the present invention, when reinforcement learning is used, even if there is a misalignment, etc., between the first component and a second component, the first component can be easily assembled with the second component by driving of a hand of the robot.

Inventors:
MURAOKA Kotaro (LTD. 6-1 Hagadai, Hagamachi, Hagagu, Tochigi 95, 〒3213395, JP)
ISHIZUKA Yasutaka (LTD. 6-1 Hagadai, Hagamachi, Hagagu, Saitama 95, 〒3213395, JP)
Application Number:
JP2017/010887
Publication Date:
March 08, 2018
Filing Date:
March 17, 2017
Export Citation:
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Assignee:
HONDA MOTOR CO.,LTD. (1-1 Minami-Aoyama 2-chome, Minato-ku Tokyo, 56, 〒1078556, JP)
International Classes:
B25J13/00; B23P19/04
Foreign References:
JP2013158850A2013-08-19
JP2011248728A2011-12-08
JP2015033747A2015-02-19
JP2000176868A2000-06-27
Other References:
KIYOHARU TAGAWA ET AL.: "Approach to Artificial Skill from Affordance Theory : Memory and Embodiment", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 22, no. 7, 2004, pages 892 - 900, XP055471453
RYO MOTOYAMA ET AL.: "Rikikaku Shingo no Jikokureki o Mochiita Robot ni yoru Pin Sonyu Sagyo -Recurrent Neural Network o Mochiita Jotai Sen'i no Yosoku", 29TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN YOKOSHU DVD -ROM, 7 September 2011 (2011-09-07)
Attorney, Agent or Firm:
YOSHIDA Yutaka et al. (Sunrise Kobayashi Building 5F, 11-8 Higashi Ikebukuro 3-chome Toshima-k, Tokyo 13, 〒1700013, JP)
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