JP7845487B2 - 制御装置、制御方法及びプログラム - Google Patents

制御装置、制御方法及びプログラム

Info

Publication number
JP7845487B2
JP7845487B2 JP2024548062A JP2024548062A JP7845487B2 JP 7845487 B2 JP7845487 B2 JP 7845487B2 JP 2024548062 A JP2024548062 A JP 2024548062A JP 2024548062 A JP2024548062 A JP 2024548062A JP 7845487 B2 JP7845487 B2 JP 7845487B2
Authority
JP
Japan
Prior art keywords
environmental
environment
constraint
constraint data
real
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.)
Active
Application number
JP2024548062A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2024062632A1 (https=
JPWO2024062632A5 (ja
Inventor
博之 大山
伸治 加美
雅嗣 小川
永哉 若山
真澄 一圓
凜 高野
裕輝 田屋
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.)
NEC Corp
Original Assignee
NEC Corp
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 NEC Corp filed Critical NEC Corp
Publication of JPWO2024062632A1 publication Critical patent/JPWO2024062632A1/ja
Publication of JPWO2024062632A5 publication Critical patent/JPWO2024062632A5/ja
Application granted granted Critical
Publication of JP7845487B2 publication Critical patent/JP7845487B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • 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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • 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
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Artificial Intelligence (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mathematical Physics (AREA)
  • Evolutionary Computation (AREA)
  • Data Mining & Analysis (AREA)
  • Feedback Control In General (AREA)
JP2024548062A 2022-09-22 2022-09-22 制御装置、制御方法及びプログラム Active JP7845487B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/035529 WO2024062632A1 (ja) 2022-09-22 2022-09-22 制御装置、制約条件選択装置、データ生成装置、制御方法、制約条件選択方法、データ生成方法及び記憶媒体

Publications (3)

Publication Number Publication Date
JPWO2024062632A1 JPWO2024062632A1 (https=) 2024-03-28
JPWO2024062632A5 JPWO2024062632A5 (ja) 2025-05-30
JP7845487B2 true JP7845487B2 (ja) 2026-04-14

Family

ID=90454189

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024548062A Active JP7845487B2 (ja) 2022-09-22 2022-09-22 制御装置、制御方法及びプログラム

Country Status (4)

Country Link
US (1) US20260079460A1 (https=)
EP (1) EP4592911A4 (https=)
JP (1) JP7845487B2 (https=)
WO (1) WO2024062632A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008200770A (ja) 2007-02-16 2008-09-04 Toshiba Corp ロボットおよびその制御方法
JP2011088273A (ja) 2009-09-28 2011-05-06 Panasonic Corp ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、及び、ロボットアーム制御用集積電子回路
JP2020144507A (ja) 2019-03-05 2020-09-10 株式会社日立製作所 移動範囲設定システム及び移動範囲設定方法
WO2021220342A1 (ja) 2020-04-27 2021-11-04 日本電気株式会社 物体認識装置、物体認識方法、学習装置、学習方法、及び、記録媒体

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5724919B2 (ja) * 2012-03-22 2015-05-27 トヨタ自動車株式会社 軌道生成装置、移動体、軌道生成方法及びプログラム
WO2019109230A1 (zh) * 2017-12-04 2019-06-13 深圳市沃特沃德股份有限公司 视觉扫地机器人及其回充方法
JP2020113262A (ja) * 2019-12-05 2020-07-27 株式会社エクサウィザーズ 学習済モデル生成装置、ロボット制御装置、及び、プログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008200770A (ja) 2007-02-16 2008-09-04 Toshiba Corp ロボットおよびその制御方法
JP2011088273A (ja) 2009-09-28 2011-05-06 Panasonic Corp ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、及び、ロボットアーム制御用集積電子回路
JP2020144507A (ja) 2019-03-05 2020-09-10 株式会社日立製作所 移動範囲設定システム及び移動範囲設定方法
WO2021220342A1 (ja) 2020-04-27 2021-11-04 日本電気株式会社 物体認識装置、物体認識方法、学習装置、学習方法、及び、記録媒体

Also Published As

Publication number Publication date
JPWO2024062632A1 (https=) 2024-03-28
EP4592911A4 (en) 2026-02-11
US20260079460A1 (en) 2026-03-19
WO2024062632A1 (ja) 2024-03-28
EP4592911A1 (en) 2025-07-30

Similar Documents

Publication Publication Date Title
US11717959B2 (en) Machine learning methods and apparatus for semantic robotic grasping
JP7071054B2 (ja) 情報処理装置、情報処理方法およびプログラム
WO2023192497A1 (en) Natural language control of a robot
Vianello et al. Human posture prediction during physical human-robot interaction
CN112476424A (zh) 机器人控制方法、装置、设备及计算机存储介质
CN110315505A (zh) 机器学习装置及方法、机器人控制装置、机器人视觉系统
US12552022B2 (en) Learning device and robot control system
CN108873768A (zh) 任务执行系统及方法、学习装置及方法、以及记录介质
JP7571452B2 (ja) 情報処理装置及び情報処理方法、コンピュータプログラム、並びに学習システム
JP7785204B2 (ja) 高速オンライン負荷推定による柔軟なロボット操作のためのシステムおよび方法
Fu et al. Active learning-based grasp for accurate industrial manipulation
RU2745380C1 (ru) Способ и система захвата объектов с помощью роботизированного устройства
CN118893633B (zh) 一种模型训练方法、装置和机械臂系统
CN114730407A (zh) 使用神经网络对工作环境中的人类行为进行建模
Seita et al. Robot bed-making: Deep transfer learning using depth sensing of deformable fabric
Jin et al. A geometric perspective on visual imitation learning
Yao Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
Naughton et al. Structured action prediction for teleoperation in open worlds
JP7845487B2 (ja) 制御装置、制御方法及びプログラム
Saraiva et al. Mobile multirobot manipulation by image recognition
Langsfeld Learning task models for robotic manipulation of nonrigid objects
Wang et al. Learning Dual-Arm Coordination for Grasping Large Flat Objects
Agrawal Automating endoscopic camera motion for teleoperated minimally invasive surgery using inverse reinforcement learning
Coskun et al. Robotic grasping in simulation using deep reinforcement learning
CN120803003B (zh) 基于人机协作的无人机具身认知对齐方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250318

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20250318

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250930

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20251128

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: 20260303

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20260316