公开(公告)号：US09815198B2

公开(公告)日：2017-11-14

申请号：US14807464

申请日：2015-07-23

Applicant: X Development LLC

Inventor： Benjamin M. Davis

IPC: B25J9/16 ,  G05B19/408

CPC classification number: B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

Abstract: Systems and methods are disclosed for determining work offset data for a robot in a work environment. In an embodiment, a robot operating in a work environment receives an indication to determine a work offset. The work offset describes the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot identifies the working plane. The robot is controlled to contact one or more points of the working plane. The robot determines respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot determines the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

公开(公告)号：US20210362330A1

公开(公告)日：2021-11-25

申请号：US16880860

申请日：2020-05-21

Applicant: X Development LLC

Inventor： Bala Venkata Sai Ravi Krishna Kolluri ,  Stefan Schaal ,  Benjamin M. Davis ,  Ralf Oliver Michael Schönherr ,  Ning Ye

IPC: B25J9/16 ,  B25J9/00 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributing skill templates for robotic demonstration learning. One of the methods includes receiving, from the user device by a skill template distribution system, a selection of an available skill template. The skill template distribution system provides a skill template, wherein the skill template comprises information representing a state machine of one or more tasks, and wherein the skill template specifies which of the one or more tasks are demonstration subtasks requiring local demonstration data. The skill template distribution system trains a machine learning model for the demonstration subtask using a local demonstration data to generate learned parameter values.

公开(公告)号：US20180029231A1

公开(公告)日：2018-02-01

申请号：US15729953

申请日：2017-10-11

Applicant: X Development LLC

Inventor： Benjamin M. Davis

IPC: B25J9/16 ,  G05B19/408

CPC classification number: B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

Abstract: Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.