CN115933455A - 用于控制机器人的设备和方法 - Google Patents

用于控制机器人的设备和方法 Download PDF

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Publication number
CN115933455A
CN115933455A CN202211220363.7A CN202211220363A CN115933455A CN 115933455 A CN115933455 A CN 115933455A CN 202211220363 A CN202211220363 A CN 202211220363A CN 115933455 A CN115933455 A CN 115933455A
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CN
China
Prior art keywords
feature points
robot
pose
descriptor
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211220363.7A
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English (en)
Chinese (zh)
Inventor
A·G·库普奇科
国萌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN115933455A publication Critical patent/CN115933455A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39546—Map human grasps to manipulator grasps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40116—Learn by operator observation, symbiosis, show, watch

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Artificial Intelligence (AREA)
  • Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
CN202211220363.7A 2021-10-05 2022-10-08 用于控制机器人的设备和方法 Pending CN115933455A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021211185.8A DE102021211185B4 (de) 2021-10-05 2021-10-05 Vorrichtung und Verfahren zum Steuern eines Roboters
DE102021211185.8 2021-10-05

Publications (1)

Publication Number Publication Date
CN115933455A true CN115933455A (zh) 2023-04-07

Family

ID=85570984

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211220363.7A Pending CN115933455A (zh) 2021-10-05 2022-10-08 用于控制机器人的设备和方法

Country Status (4)

Country Link
US (1) US20230107993A1 (https=)
JP (1) JP2023055217A (https=)
CN (1) CN115933455A (https=)
DE (1) DE102021211185B4 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023240129A1 (en) * 2022-06-07 2023-12-14 Objectvideo Labs, Llc Robot pose estimation
EP4289566A3 (en) * 2022-06-07 2024-01-03 Canon Kabushiki Kaisha Control method, control program, recording medium, method for manufacturing product, and system

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100468857B1 (ko) 2002-11-21 2005-01-29 삼성전자주식회사 2차원 형상에 대한 투사 불변형 표현자를 이용한핸드/아이 캘리브레이션 방법
DE102008020579B4 (de) 2008-04-24 2014-07-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur automatischen Objektlageerkennung und Bewegung einer Vorrichtung relativ zu einem Objekt
JP5699697B2 (ja) * 2011-03-07 2015-04-15 セイコーエプソン株式会社 ロボット装置、位置姿勢検出装置、位置姿勢検出プログラム、および位置姿勢検出方法
US20150294496A1 (en) 2014-04-14 2015-10-15 GM Global Technology Operations LLC Probabilistic person-tracking using multi-view fusion
US20150331415A1 (en) 2014-05-16 2015-11-19 Microsoft Corporation Robotic task demonstration interface
US10974394B2 (en) * 2016-05-19 2021-04-13 Deep Learning Robotics Ltd. Robot assisted object learning vision system
EP3616129A1 (en) * 2017-09-20 2020-03-04 Google LLC Optimizing policy controllers for robotic agents using image embeddings
US10766149B2 (en) 2018-03-23 2020-09-08 Amazon Technologies, Inc. Optimization-based spring lattice deformation model for soft materials
EP3847617A4 (en) * 2018-09-04 2022-06-01 Fastbrick IP Pty Ltd VISION SYSTEM FOR A ROBOTIC MACHINE
US11577388B2 (en) 2019-06-27 2023-02-14 Intel Corporation Automatic robot perception programming by imitation learning
DE102019216229B4 (de) 2019-10-07 2022-11-10 Robert Bosch Gmbh Vorrichtung und Verfahren zum Steuern einer Robotervorrichtung
DE102020127508B4 (de) 2019-10-24 2022-09-08 Nvidia Corporation Posenverfolgung von Objekten in der Hand
DE102019216560B4 (de) * 2019-10-28 2022-01-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Trainieren von Manipulationsfertigkeiten eines Robotersystems
DE102020128653B4 (de) 2019-11-13 2024-03-14 Nvidia Corporation Greifbestimmung für ein Objekt in Unordnung
CN111055275B (zh) * 2019-12-04 2021-10-29 深圳市优必选科技股份有限公司 一种动作模仿方法、装置、计算机可读存储介质及机器人
US11813749B2 (en) * 2020-04-08 2023-11-14 Fanuc Corporation Robot teaching by human demonstration

Also Published As

Publication number Publication date
US20230107993A1 (en) 2023-04-06
DE102021211185A1 (de) 2023-04-06
DE102021211185B4 (de) 2024-05-02
JP2023055217A (ja) 2023-04-17

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