JP5361756B2 - 模倣学習のためのタスク固有の表現の自動選択を備えたロボット - Google Patents

模倣学習のためのタスク固有の表現の自動選択を備えたロボット Download PDF

Info

Publication number
JP5361756B2
JP5361756B2 JP2010025636A JP2010025636A JP5361756B2 JP 5361756 B2 JP5361756 B2 JP 5361756B2 JP 2010025636 A JP2010025636 A JP 2010025636A JP 2010025636 A JP2010025636 A JP 2010025636A JP 5361756 B2 JP5361756 B2 JP 5361756B2
Authority
JP
Japan
Prior art keywords
robot
task
task space
movement
motion
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.)
Expired - Fee Related
Application number
JP2010025636A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010201611A5 (OSRAM
JP2010201611A (ja
Inventor
ミヒャエル・ギーンゲル
マヌエル・ミューリグ
ヨッヒェン・シュタイル
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.)
Honda Research Institute Europe GmbH
Original Assignee
Honda Research Institute Europe 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 Honda Research Institute Europe GmbH filed Critical Honda Research Institute Europe GmbH
Publication of JP2010201611A publication Critical patent/JP2010201611A/ja
Publication of JP2010201611A5 publication Critical patent/JP2010201611A5/ja
Application granted granted Critical
Publication of JP5361756B2 publication Critical patent/JP5361756B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36442—Automatically teaching, teach by showing

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2010025636A 2009-02-27 2010-02-08 模倣学習のためのタスク固有の表現の自動選択を備えたロボット Expired - Fee Related JP5361756B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP09153866A EP2224303B1 (en) 2009-02-27 2009-02-27 Robot with automatic selection of task-specific representations for imitation learning
EP09153866.0 2009-02-27

Publications (3)

Publication Number Publication Date
JP2010201611A JP2010201611A (ja) 2010-09-16
JP2010201611A5 JP2010201611A5 (OSRAM) 2013-02-28
JP5361756B2 true JP5361756B2 (ja) 2013-12-04

Family

ID=41401902

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010025636A Expired - Fee Related JP5361756B2 (ja) 2009-02-27 2010-02-08 模倣学習のためのタスク固有の表現の自動選択を備えたロボット

Country Status (4)

Country Link
US (1) US8571714B2 (OSRAM)
EP (1) EP2224303B1 (OSRAM)
JP (1) JP5361756B2 (OSRAM)
DE (1) DE602009000644D1 (OSRAM)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH700243A1 (de) 2009-01-12 2010-07-15 Ferag Ag Computergesteuertes fördersystem und förderverfahren.
US9015093B1 (en) 2010-10-26 2015-04-21 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
US8775341B1 (en) 2010-10-26 2014-07-08 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
JP5481358B2 (ja) * 2010-11-29 2014-04-23 本田技研工業株式会社 位置情報制御システム、位置情報制御装置、位置情報制御方法、及び位置情報制御プログラム
US9566710B2 (en) 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
JP2013022705A (ja) * 2011-07-25 2013-02-04 Sony Corp ロボット装置及びロボット装置の制御方法、コンピューター・プログラム、並びにロボット・システム
US8862523B2 (en) * 2011-10-28 2014-10-14 Microsoft Corporation Relational learning for system imitation
US9753453B2 (en) 2012-07-09 2017-09-05 Deep Learning Robotics Ltd. Natural machine interface system
DE102012020314B4 (de) 2012-10-16 2015-03-19 Dietmar Gude Verfahren und Vorrichtung zur Unterstützung der Nachahmung von Verhalten
US9056396B1 (en) 2013-03-05 2015-06-16 Autofuss Programming of a robotic arm using a motion capture system
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
US9314924B1 (en) 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
US9384443B2 (en) 2013-06-14 2016-07-05 Brain Corporation Robotic training apparatus and methods
US9436909B2 (en) 2013-06-19 2016-09-06 Brain Corporation Increased dynamic range artificial neuron network apparatus and methods
US20150032258A1 (en) * 2013-07-29 2015-01-29 Brain Corporation Apparatus and methods for controlling of robotic devices
US9296101B2 (en) 2013-09-27 2016-03-29 Brain Corporation Robotic control arbitration apparatus and methods
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
US9597797B2 (en) 2013-11-01 2017-03-21 Brain Corporation Apparatus and methods for haptic training of robots
US9463571B2 (en) 2013-11-01 2016-10-11 Brian Corporation Apparatus and methods for online training of robots
US9248569B2 (en) 2013-11-22 2016-02-02 Brain Corporation Discrepancy detection apparatus and methods for machine learning
JP6005299B2 (ja) * 2013-11-28 2016-10-12 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
JP5850958B2 (ja) * 2014-01-24 2016-02-03 ファナック株式会社 ワークを撮像するためのロボットプログラムを作成するロボットプログラミング装置
US9358685B2 (en) 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
US9630318B2 (en) 2014-10-02 2017-04-25 Brain Corporation Feature detection apparatus and methods for training of robotic navigation
US9881349B1 (en) 2014-10-24 2018-01-30 Gopro, Inc. Apparatus and methods for computerized object identification
DE102015001741A1 (de) * 2015-02-11 2016-08-11 Kuka Roboter Gmbh Verfahren und System zum Betreiben einer mehrachsigen Maschine, insbesondere eines Roboters
US9717387B1 (en) 2015-02-26 2017-08-01 Brain Corporation Apparatus and methods for programming and training of robotic household appliances
CN105739444A (zh) * 2016-04-06 2016-07-06 济南大学 机械手多参数控制脑机接口
TWI805545B (zh) * 2016-04-12 2023-06-21 丹麥商環球機器人公司 用於藉由示範來程式化機器人之方法和電腦程式產品
JP7087006B2 (ja) * 2017-09-20 2022-06-20 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
US11733705B2 (en) 2018-01-16 2023-08-22 Sony Interactive Entertainment Inc. Moving body and moving body control method
JP7064513B2 (ja) * 2018-01-16 2022-05-10 株式会社ソニー・インタラクティブエンタテインメント ロボット装置、ロボット装置の制御方法およびプログラム
US11648672B2 (en) 2018-01-16 2023-05-16 Sony Interactive Entertainment Inc. Information processing device and image generation method
US12450534B2 (en) * 2020-07-20 2025-10-21 Georgia Tech Research Corporation Heterogeneous graph attention networks for scalable multi-robot scheduling
JP2024508805A (ja) * 2021-02-25 2024-02-28 ナノトロニクス イメージング インコーポレイテッド 製造環境における模倣学習

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6347261B1 (en) * 1999-08-04 2002-02-12 Yamaha Hatsudoki Kabushiki Kaisha User-machine interface system for enhanced interaction
US20040006566A1 (en) * 2000-11-07 2004-01-08 Matt Taylor System and method for augmenting knowledge commerce
SE526119C2 (sv) * 2003-11-24 2005-07-05 Abb Research Ltd Metod och system för programmering av en industrirobot
JP4463120B2 (ja) * 2005-01-17 2010-05-12 独立行政法人理化学研究所 身まねロボットシステムとその身まね動作制御方法
JP2006293442A (ja) * 2005-04-05 2006-10-26 Sony Corp 情報処理装置および方法、並びにプログラム
US8924021B2 (en) * 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
EP1972416B1 (en) * 2007-03-23 2018-04-25 Honda Research Institute Europe GmbH Robots with occlusion avoidance functionality
JP4844453B2 (ja) * 2007-04-09 2011-12-28 株式会社デンソーウェーブ ロボットの教示装置及び教示方法
US7986118B2 (en) * 2007-04-23 2011-07-26 Honda Motor Co., Ltd. Open-loop torque control on joint position-controlled robots
US20090118864A1 (en) * 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP5252393B2 (ja) * 2008-05-13 2013-07-31 独立行政法人情報通信研究機構 動作学習装置

Also Published As

Publication number Publication date
DE602009000644D1 (de) 2011-03-03
EP2224303B1 (en) 2011-01-19
EP2224303A1 (en) 2010-09-01
JP2010201611A (ja) 2010-09-16
US20100222924A1 (en) 2010-09-02
US8571714B2 (en) 2013-10-29

Similar Documents

Publication Publication Date Title
JP5361756B2 (ja) 模倣学習のためのタスク固有の表現の自動選択を備えたロボット
US9387589B2 (en) Visual debugging of robotic tasks
Dillmann Teaching and learning of robot tasks via observation of human performance
Billard et al. Robot programming by demonstration
US12115667B2 (en) Device and method for controlling a robotic device
JP7728139B2 (ja) ロボット装置を制御するための装置及び方法
US11833691B2 (en) Hybrid robotic motion planning system using machine learning and parametric trajectories
Jankowski et al. From key positions to optimal basis functions for probabilistic adaptive control
JP2025530009A (ja) 新たなタスクへの汎用化のためにロボットタスクにおけるシーケンスを学習するためのシステムおよび方法
Mielke et al. Human-robot co-manipulation of extended objects: Data-driven models and control from analysis of human-human dyads
Rozo et al. Robot learning from demonstration of force-based tasks with multiple solution trajectories
Liu et al. Robotic manipulation skill acquisition via demonstration policy learning
Yamane Kinematic redundancy resolution for humanoid robots by human motion database
CN119347753B (zh) 确定控制策略模型的方法及装置以及用于控制末端执行器的方法及装置
Bottega et al. Virtual reality platform to develop and test applications on human-robot social interaction
Wang et al. Real-time Dexterous Telemanipulation with an End-Effect-Oriented Learning-based Approach
Takahashi et al. Feasibility-aware Imitation Learning from Observations through a Hand-mounted Demonstration Interface
Zambelli et al. Multimodal imitation using self-learned sensorimotor representations
Barai et al. Review on design and development of intelligent robotic arm
Faibish Human-robot handovers: Human preferences and robot learning
JP2023062361A (ja) 動作指令生成装置および動作指令生成方法
Wicaksono A Relational Approach to Tool Creation by a Robot
Chernova et al. Modes of Interaction with a Teacher
KR20250151912A (ko) 로봇 제어 프레임워크 시스템 및 그 동작방법
Hansen et al. Learning to Manipulate from Pixels on Rigid Body Robots with a Kinematic Critic

Legal Events

Date Code Title Description
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110922

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120110

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120405

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20121016

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130115

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20130115

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20130820

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20130903

R150 Certificate of patent or registration of utility model

Ref document number: 5361756

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: R3D02

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees