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公开(公告)号：US20140371907A1
公开(公告)日：2014-12-18
申请号：US13918338
申请日：2013-06-14
申请人： BRAIN CORPORATION
发明人： Jean-Baptiste Passot , Oleg Sinyavskiy , Filip Ponulak , Patryk Laurent , Borja Ibarz Gabardos , Eugene Izhikevich
IPC分类号： B25J9/16
摘要： Apparatus and methods for training of robotic devices. Robotic devices may be trained by a user guiding the robot along target trajectory using an input signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the user guidance, sensory input, and/or performance measure. Training may comprise a plurality of trials. During first trial, the user input may be sufficient to cause the robot to complete the trajectory. During subsequent trials, the user and the robot's controller may collaborate so that user input may be reduced while the robot control may be increased. Individual contributions from the user and the robot controller during training may be may be inadequate (when used exclusively) to complete the task. Upon learning, user's knowledge may be transferred to the robot's controller to enable task execution in absence of subsequent inputs from the user
摘要翻译： 用于训练机器人装置的装置和方法。 机器人装置可以由用户使用输入信号沿目标轨迹引导机器人进行训练。 机器人设备可以包括自适应控制器，其被配置为基于用户引导，感觉输入和/或性能测量中的一个或多个来产生控制命令。 培训可能包括多项试验。 在第一次试用期间，用户输入可能足以使机器人完成轨迹。 在随后的试验期间，用户和机器人的控制器可以协作，以便可以减少用户输入，同时可以增加机器人控制。 在训练期间来自用户和机器人控制器的个人贡献可能不足以（完全用于完成任务）。 在学习之后，用户的知识可以传送到机器人的控制器，以便在没有用户的后续输入的情况下执行任务执行
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公开(公告)号：US20240353843A1
公开(公告)日：2024-10-24
申请号：US18758553
申请日：2024-06-28
申请人： Brain Corporation
IPC分类号： G05D1/00
CPC分类号： G05D1/0257
摘要： A system for controlling movement of a device comprises at least one processor configured to receive a first input from a sensor upon detection of an obstacle in a first region of the device and a different second input from the sensor upon detection of the object in a different second region of the device and further configured to transmit a first signal to at least one actuator upon receiving the first input from the sensor, the first signal including a strength of first value and transmit a second signal upon receiving the second input from the sensor, the second value being greater than the first value.
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公开(公告)号：US11691286B2
公开(公告)日：2023-07-04
申请号：US16454695
申请日：2019-06-27
申请人： Brain Corporation
CPC分类号： B25J9/1666 , G05D1/0044 , G05D1/0274 , G05B2219/39082 , G05D2201/0203
摘要： Systems and methods assisting a robotic apparatus are disclosed. In some exemplary implementations, a robot can encounter situations where the robot cannot proceed and/or does not know with a high degree of certainty it can proceed. Accordingly, the robot can determine that it has encountered an error and/or assist event. In some exemplary implementations, the robot can receive assistance from an operator and/or attempt to resolve the issue itself. In some cases, the robot can be configured to delay actions in order to allow resolution of the error and/or assist event.
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公开(公告)号：US20230021778A1
公开(公告)日：2023-01-26
申请号：US17961926
申请日：2022-10-07
申请人： Brain Corporation
发明人： Jean-Baptiste Passot , Andrew Smith , Botond Szatmary , Borja Ibarz Gabardos , Cody Griffin , Jaldert Rombouts , Oleg Sinyavskiy , Eugene Izhikevich
摘要： Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.
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35.发明申请公开(公告)号：US20220203524A1
公开(公告)日：2022-06-30
申请号：US17698482
申请日：2022-03-18
申请人： Brain Corporation
摘要： Apparatus and methods for training and controlling of e.g., robotic devices. In one implementation, a robot may be utilized to perform a target task characterized by a target trajectory. The robot may be trained by a user using supervised learning. The user may interface to the robot, such as via a control apparatus configured to provide a teaching signal to the robot. The robot may comprise an adaptive controller comprising a neuron network, which may be configured to generate actuator control commands based on the user input and output of the learning process. During one or more learning trials, the controller may be trained to navigate a portion of the target trajectory. Individual trajectory portions may be trained during separate training trials. Some portions may be associated with robot executing complex actions and may require additional training trials and/or more dense training input compared to simpler trajectory actions.
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公开(公告)号：US11279026B2
公开(公告)日：2022-03-22
申请号：US16682430
申请日：2019-11-13
申请人： Brain Corporation
摘要： Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.
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公开(公告)号：US10823576B2
公开(公告)日：2020-11-03
申请号：US16356160
申请日：2019-03-18
申请人： BRAIN CORPORATION
摘要： Systems and methods for robotic mapping are disclosed. In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.
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公开(公告)号：US20190184556A1
公开(公告)日：2019-06-20
申请号：US16269129
申请日：2019-02-06
申请人： Brain Corporation
CPC分类号： B25J9/163 , G05B2219/33056 , G05B2219/40499 , G05D1/0088 , G05D1/0221 , G06N3/008 , G06N3/049 , G06N20/00 , Y10S901/03
摘要： Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.
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公开(公告)号：US10293485B2
公开(公告)日：2019-05-21
申请号：US15474816
申请日：2017-03-30
申请人： BRAIN CORPORATION
摘要： Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.
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公开(公告)号：US20190121365A1
公开(公告)日：2019-04-25
申请号：US16168368
申请日：2018-10-23
申请人： Brain Corporation
发明人： Jean-Baptiste Passot , Andrew Smith , Botond Szatmary , Borja Ibarz Gabardos , Cody Griffin , Jaldert Rambouts , Oleg Sinyavskiy , Eugene Izhikevich
摘要： Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.
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