JP2023055217A - ロボットを制御するための装置及び方法 - Google Patents

ロボットを制御するための装置及び方法 Download PDF

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Publication number
JP2023055217A
JP2023055217A JP2022160018A JP2022160018A JP2023055217A JP 2023055217 A JP2023055217 A JP 2023055217A JP 2022160018 A JP2022160018 A JP 2022160018A JP 2022160018 A JP2022160018 A JP 2022160018A JP 2023055217 A JP2023055217 A JP 2023055217A
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Japan
Prior art keywords
feature points
robot
descriptor
pose
demonstration
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JP2022160018A
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Japanese (ja)
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JP2023055217A5 (https=
Inventor
ガーボル クプチィク アンドラーシュ
Gabor Kupcsik Andras
グオ メン
Meng Guo
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of JP2023055217A publication Critical patent/JP2023055217A/ja
Publication of JP2023055217A5 publication Critical patent/JP2023055217A5/ja
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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

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  • 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)
JP2022160018A 2021-10-05 2022-10-04 ロボットを制御するための装置及び方法 Pending JP2023055217A (ja)

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 (2)

Publication Number Publication Date
JP2023055217A true JP2023055217A (ja) 2023-04-17
JP2023055217A5 JP2023055217A5 (https=) 2025-08-01

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JP2022160018A Pending JP2023055217A (ja) 2021-10-05 2022-10-04 ロボットを制御するための装置及び方法

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

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* 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

Citations (5)

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JP2012185752A (ja) * 2011-03-07 2012-09-27 Seiko Epson Corp 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
JP2019518297A (ja) * 2016-05-19 2019-06-27 ディープ ラーニング ロボティクス リミテッドＤｅｅｐ Ｌｅａｒｎｉｎｇ Ｒｏｂｏｔｉｃｓ Ｌｔｄ． ロボット支援型物体学習視覚システム
JP2020530602A (ja) * 2017-09-20 2020-10-22 グーグル エルエルシー 画像埋め込みを使用するロボティックエージェントのためのポリシーコントローラの最適化
JP2021066010A (ja) * 2019-10-28 2021-04-30 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ ロボットシステムの操作スキルをトレーニングするための方法及び装置
US20210192784A1 (en) * 2018-09-04 2021-06-24 Fastbrick Ip Pty Ltd. Vision system for a robotic machine

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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
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
US10766149B2 (en) 2018-03-23 2020-09-08 Amazon Technologies, Inc. Optimization-based spring lattice deformation model for soft materials
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
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012185752A (ja) * 2011-03-07 2012-09-27 Seiko Epson Corp 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
JP2019518297A (ja) * 2016-05-19 2019-06-27 ディープ ラーニング ロボティクス リミテッドＤｅｅｐ Ｌｅａｒｎｉｎｇ Ｒｏｂｏｔｉｃｓ Ｌｔｄ． ロボット支援型物体学習視覚システム
JP2020530602A (ja) * 2017-09-20 2020-10-22 グーグル エルエルシー 画像埋め込みを使用するロボティックエージェントのためのポリシーコントローラの最適化
US20210192784A1 (en) * 2018-09-04 2021-06-24 Fastbrick Ip Pty Ltd. Vision system for a robotic machine
JP2021066010A (ja) * 2019-10-28 2021-04-30 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ ロボットシステムの操作スキルをトレーニングするための方法及び装置

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US20230107993A1 (en) 2023-04-06
CN115933455A (zh) 2023-04-07
DE102021211185A1 (de) 2023-04-06
DE102021211185B4 (de) 2024-05-02

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