JP7765286B2 - スキルのロボット学習及び実行のためのシステム、装置、及び方法 - Google Patents

スキルのロボット学習及び実行のためのシステム、装置、及び方法

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Publication number
JP7765286B2
JP7765286B2 JP2021510317A JP2021510317A JP7765286B2 JP 7765286 B2 JP7765286 B2 JP 7765286B2 JP 2021510317 A JP2021510317 A JP 2021510317A JP 2021510317 A JP2021510317 A JP 2021510317A JP 7765286 B2 JP7765286 B2 JP 7765286B2
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Japan
Prior art keywords
robotic device
environment
information
skill
user
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JP2021510317A
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English (en)
Japanese (ja)
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JP2021534988A5 (https=
JP2021534988A (ja
JPWO2020047120A5 (https=
Inventor
ヤウ－ウェン チュウ，ビビアン
リ，シュアイ
グリーン，フォレスト
ワースノップ，ピーター
ロッカード トマス，アンドレア
Original Assignee
ディリジェント ロボティクス，インコーポレイテッド
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Priority claimed from US16/456,919 external-priority patent/US11148288B2/en
Application filed by ディリジェント ロボティクス，インコーポレイテッド filed Critical ディリジェント ロボティクス，インコーポレイテッド
Publication of JP2021534988A publication Critical patent/JP2021534988A/ja
Publication of JP2021534988A5 publication Critical patent/JP2021534988A5/ja
Publication of JPWO2020047120A5 publication Critical patent/JPWO2020047120A5/ja
Priority to JP2024096683A priority Critical patent/JP2024138277A/ja
Application granted granted Critical
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Classifications

    • 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
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • 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
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program 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
    • G05B2219/39—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
    • 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
    • G05B2219/40391—Human to robot skill transfer

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2021510317A 2018-08-28 2019-08-28 スキルのロボット学習及び実行のためのシステム、装置、及び方法 Active JP7765286B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024096683A JP2024138277A (ja) 2018-08-28 2024-06-14 スキルのロボット学習及び実行のためのシステム、装置、及び方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201862723694P 2018-08-28 2018-08-28
US62/723,694 2018-08-28
US16/456,919 US11148288B2 (en) 2017-02-25 2019-06-28 Systems, apparatus, and methods for robotic learning and execution of skills
US16/456,919 2019-06-28
PCT/US2019/048601 WO2020047120A1 (en) 2018-08-28 2019-08-28 Systems, apparatus, and methods for robotic learning and execution of skills

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2024096683A Division JP2024138277A (ja) 2018-08-28 2024-06-14 スキルのロボット学習及び実行のためのシステム、装置、及び方法

Publications (4)

Publication Number Publication Date
JP2021534988A JP2021534988A (ja) 2021-12-16
JP2021534988A5 JP2021534988A5 (https=) 2022-09-05
JPWO2020047120A5 JPWO2020047120A5 (https=) 2022-09-05
JP7765286B2 true JP7765286B2 (ja) 2025-11-06

Family

ID=69645343

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2021510317A Active JP7765286B2 (ja) 2018-08-28 2019-08-28 スキルのロボット学習及び実行のためのシステム、装置、及び方法
JP2024096683A Pending JP2024138277A (ja) 2018-08-28 2024-06-14 スキルのロボット学習及び実行のためのシステム、装置、及び方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2024096683A Pending JP2024138277A (ja) 2018-08-28 2024-06-14 スキルのロボット学習及び実行のためのシステム、装置、及び方法

Country Status (3)

Country Link
EP (1) EP3843952A1 (https=)
JP (2) JP7765286B2 (https=)
WO (1) WO2020047120A1 (https=)

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US11833684B2 (en) 2017-02-25 2023-12-05 Diligent Robotics, Inc. Systems, apparatus, and methods for robotic learning and execution of skills
US11534913B2 (en) 2020-05-21 2022-12-27 Intrinsic Innovation Llc Integrating sensor streams for robotic demonstration learning
US11524402B2 (en) 2020-05-21 2022-12-13 Intrinsic Innovation Llc User feedback for robotic demonstration learning
US11986958B2 (en) 2020-05-21 2024-05-21 Intrinsic Innovation Llc Skill templates for robotic demonstration learning
US11679497B2 (en) * 2020-05-21 2023-06-20 Intrinsic Innovation Llc Distributed robotic demonstration learning
US11685047B2 (en) * 2020-05-21 2023-06-27 Intrinsic Innovation Llc Skill template distribution for robotic demonstration learning
EP4191606A4 (en) * 2020-07-31 2024-01-24 Sony Group Corporation MEDICAL ASSISTANCE SYSTEM, MEDICAL ASSISTANCE METHOD, AND COMPUTER PROGRAM
CA3207607A1 (en) 2021-02-08 2022-08-11 Andrea Lockerd THOMAZ Systems, apparatuses, and methods for robotic learning and execution of skills including navigation and manipulation functions
EP4298562A4 (en) * 2021-02-25 2025-02-12 Nanotronics Imaging, Inc. IMITATION LEARNING IN A MANUFACTURING ENVIRONMENT
US11717974B1 (en) 2022-06-10 2023-08-08 Sanctuary Cognitive Systems Corporation Haptic photogrammetry in robots and methods for operating the same
CN118254150B (zh) * 2022-12-26 2026-03-24 广东美的制冷设备有限公司 7自由度冗余机械臂及其逆运动学求解方法
WO2024237329A1 (ja) * 2023-05-17 2024-11-21 国立研究開発法人理化学研究所 システム
WO2025222202A1 (en) 2024-04-19 2025-10-23 Diligent Robotics, Inc. Multi-sensor perception model, and systems, devices, and methods thereof
WO2025248735A1 (ja) * 2024-05-30 2025-12-04 Ｎｔｔ株式会社 ロボット制御装置

Citations (4)

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JP2003271975A (ja) 2002-03-15 2003-09-26 Sony Corp 平面抽出方法、その装置、そのプログラム、その記録媒体及び平面抽出装置搭載型ロボット装置
JP2004049731A (ja) 2002-07-23 2004-02-19 Yaskawa Electric Corp 肢体駆動装置の教示方法
JP2005131713A (ja) 2003-10-28 2005-05-26 Advanced Telecommunication Research Institute International コミュニケーションロボット
JP2014194658A (ja) 2013-03-28 2014-10-09 Kobe Steel Ltd 作業経路情報設定装置、プログラム、および作業経路情報設定方法

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CN101890720B (zh) * 2004-07-13 2012-01-11 松下电器产业株式会社 物品保持系统、机器人以及机器人控制方法
JP2006110707A (ja) * 2004-09-14 2006-04-27 Sony Corp ロボット装置
JP2009113190A (ja) * 2007-11-09 2009-05-28 Toyota Motor Corp 自律動作型ロボットおよび自律動作型ロボットの動作制御方法
JP2010052079A (ja) * 2008-08-27 2010-03-11 Tokai Rubber Ind Ltd ロボットの関節装置
WO2014089316A1 (en) * 2012-12-06 2014-06-12 International Electronic Machines Corporation Human augmentation of robotic work
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US10022867B2 (en) * 2014-11-11 2018-07-17 X Development Llc Dynamically maintaining a map of a fleet of robotic devices in an environment to facilitate robotic action

Patent Citations (4)

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JP2003271975A (ja) 2002-03-15 2003-09-26 Sony Corp 平面抽出方法、その装置、そのプログラム、その記録媒体及び平面抽出装置搭載型ロボット装置
JP2004049731A (ja) 2002-07-23 2004-02-19 Yaskawa Electric Corp 肢体駆動装置の教示方法
JP2005131713A (ja) 2003-10-28 2005-05-26 Advanced Telecommunication Research Institute International コミュニケーションロボット
JP2014194658A (ja) 2013-03-28 2014-10-09 Kobe Steel Ltd 作業経路情報設定装置、プログラム、および作業経路情報設定方法

Also Published As

Publication number Publication date
EP3843952A1 (en) 2021-07-07
JP2024138277A (ja) 2024-10-08
JP2021534988A (ja) 2021-12-16
WO2020047120A1 (en) 2020-03-05

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