公开(公告)号：US09358685B2

公开(公告)日：2016-06-07

申请号：US14171762

申请日：2014-02-03

Applicant: BRAIN CORPORATION

Inventor： Philip Meier ,  Jean-Baptiste Passot ,  Borja Ibarz Gabardos ,  Patryk Laurent ,  Oleg Sinyavskiy ,  Peter O'Connor ,  Eugene Izhikevich

IPC: G05B19/04 ,  B25J9/16 ,  G06N99/00 ,  G06N3/00

CPC classification number: B25J9/163 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1656 ,  G05B2219/40116 ,  G05D1/0033 ,  G05D1/0088 ,  G05D2201/02 ,  G06N3/008 ,  G06N99/005 ,  Y10S901/01 ,  Y10S901/46

Abstract: Robots have the capacity to perform a broad range of useful tasks, such as factory automation, cleaning, delivery, assistive care, environmental monitoring and entertainment. Enabling a robot to perform a new task in a new environment typically requires a large amount of new software to be written, often by a team of experts. It would be valuable if future technology could empower people, who may have limited or no understanding of software coding, to train robots to perform custom tasks. Some implementations of the present invention provide methods and systems that respond to users' corrective commands to generate and refine a policy for determining appropriate actions based on sensor-data input. Upon completion of learning, the system can generate control commands by deriving them from the sensory data. Using the learned control policy, the robot can behave autonomously.

Abstract translation: 机器人有能力执行广泛的有用任务，如工厂自动化，清洁，交付，辅助护理，环境监测和娱乐。 使机器人在新环境中执行新任务通常需要大量新的软件来编写，通常由专家小组编写。 如果未来的技术可以赋予人们对软件编码有限或不了解的机会来训练机器人来执行定制任务，这将是有价值的。 本发明的一些实施方案提供了响应于用户的校正命令以生成和改进用于基于传感器数据输入确定适当动作的策略的方法和系统。 完成学习后，系统可以通过从感官数据中导出控制命令来生成控制命令。 使用学习的控制策略，机器人可以自主行为。

公开(公告)号：US09314924B1

公开(公告)日：2016-04-19

申请号：US13918620

申请日：2013-06-14

Applicant: BRAIN CORPORATION

Inventor： Patryk Laurent ,  Jean-Baptiste Passot ,  Oleg Sinyavskiy ,  Filip Ponulak ,  Borja Ibarz Gabardos ,  Eugene Izhikevich

IPC: G05B19/18 ,  B25J9/16

CPC classification number: B25J9/163 ,  G05B2219/39271 ,  G05B2219/39289 ,  G06N3/008 ,  G06N3/049

Abstract: Robotic devices may be trained by a user guiding the robot along target action trajectory using an input signal. A robotic device may comprise an adaptive controller configured to generate control signal based on one or more of the user guidance, sensory input, performance measure, and/or other information. Training may comprise a plurality of trials, wherein for a given context the user and the robot's controller may collaborate to develop an association between the context and the target action. Upon developing the association, the adaptive controller may be capable of generating the control signal and/or an action indication prior and/or in lieu of user input. The predictive control functionality attained by the controller may enable autonomous operation of robotic devices obviating a need for continuing user guidance.

Abstract translation: 机器人设备可以由用户使用输入信号沿着目标动作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，性能测量和/或其他信息中的一个或多个来产生控制信号。 培训可以包括多个试验，其中对于给定的上下文，用户和机器人的控制器可以协作以在上下文和目标动作之间建立关联。 在开发关联时，自适应控制器可以能够在用户输入之前和/或代替用户输入时产生控制信号和/或动作指示。 由控制器获得的预测控制功能可以实现机器人设备的自主操作，从而避免需要持续的用户指导。

公开(公告)号：US20160075016A1

公开(公告)日：2016-03-17

申请号：US14489368

申请日：2014-09-17

Applicant: Brain Corporation

Inventor： Patryk Laurent ,  Csaba Petre ,  Eugene M. Izhikevich

IPC: B25J9/16 ,  B25J13/00

CPC classification number: B25J13/006 ,  G05B15/02 ,  G05B2219/2642 ,  Y10S901/03

Abstract: Computerized appliances may be operated by users remotely. In one exemplary implementation, a learning controller apparatus may be operated to determine association between a user indication and an action by the appliance. The user indications, e.g., gestures, posture changes, audio signals may trigger an event associated with the controller. The event may be linked to a plurality of instructions configured to communicate a command to the appliance. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The sensory input may be used to determine the user indications. During operation, upon determine the indication using sensory input, the controller may cause execution of the respective instructions in order to trigger action by the appliance. Device animation methodology may enable users to operate computerized appliances using gestures, voice commands, posture changes, and/or other customized control elements.

Abstract translation: 计算机化设备可由用户远程操作。 在一个示例性实现中，可以操作学习控制器设备以确定用户指示与设备的动作之间的关联。 用户指示，例如手势，姿势改变，音频信号可以触发与控制器相关联的事件。 事件可以被链接到被配置为向设备传达命令的多个指令。 学习装置可以接收关于机器人的状态和环境（上下文）的感官输入。 感官输入可用于确定用户指示。 在操作期间，在使用感觉输入确定指示时，控制器可以引起相应指令的执行，以触发设备的动作。 设备动画方法可以使用户能够使用手势，语音命令，姿势改变和/或其他定制的控制元素来操作计算机化的设备。

公开(公告)号：US20160075015A1

公开(公告)日：2016-03-17

申请号：US14489242

申请日：2014-09-17

Applicant: Brain Corporation

Inventor： Eugene M. Izhikevich ,  Patryk Laurent ,  Csaba Petre ,  Todd Hylton ,  Vadim Polonichko

IPC: B25J9/16 ,  B25J11/00 ,  B25J9/00 ,  B25J13/00 ,  B25J19/02

CPC classification number: B25J9/163 ,  B25J9/1697 ,  G05B15/02 ,  G05B2219/2642 ,  G05B2219/40411 ,  H04L12/2803 ,  H04L12/282 ,  H04L2012/2841 ,  H04L2012/2849 ,  Y10S901/05

Abstract: Computerized appliances may be operated by users remotely. A learning controller apparatus may be operated to determine association between a user indication and an action by the appliance. The user indications, e.g., gestures, posture changes, audio signals may trigger an event associated with the controller. The event may be linked to a plurality of instructions configured to communicate a command to the appliance. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The sensory input may be used to determine the user indications. During operation, upon determine the indication using sensory input, the controller may cause execution of the respective instructions in order to trigger action by the appliance. Device animation methodology may enable users to operate computerized appliances using gestures, voice commands, posture changes, and/or other customized control elements.

Abstract translation: 计算机化设备可由用户远程操作。 可以操作学习控制器设备以确定用户指示与设备的动作之间的关联。 用户指示，例如手势，姿势改变，音频信号可以触发与控制器相关联的事件。 事件可以被链接到被配置为向设备传达命令的多个指令。 学习装置可以接收关于机器人的状态和环境（上下文）的感官输入。 感官输入可用于确定用户指示。 在操作期间，在使用感觉输入确定指示时，控制器可以引起相应指令的执行，以触发设备的动作。 设备动画方法可以使用户能够使用手势，语音命令，姿势改变和/或其他定制的控制元素来操作计算机化的设备。

公开(公告)号：US20150094850A1

公开(公告)日：2015-04-02

申请号：US14040520

申请日：2013-09-27

Applicant: BRAIN CORPORATION

Inventor： Jean-Baptiste Passot ,  Patryk Laurent ,  Eugene Izhikevich

IPC: B25J9/16

CPC classification number: B25J9/163 ,  G05B2219/39271 ,  G05B2219/39307 ,  G05B2219/40499 ,  G06N3/008 ,  G06N3/049 ,  Y10S901/03

Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.

Abstract translation: 用于对机器人装置的控制信号进行仲裁的装置和方法。 机器人设备可以包括自适应控制器，其包括多个预测器，其被配置为基于教学输入，感觉输入和/或性能中的一个或多个来提供多个预测控制信号。 预测的控制信号可以被配置为引起可能彼此冲突和/或利用共享资源的两个或更多个动作。 仲裁员可以用来选择一个动作。 选择过程可以利用WTA，加强和/或监督机制来抑制一个或多个预测信号。 仲裁器输出可以包括可以提供给预测器块的目标状态信息。 在仲裁之前，预测的控制信号可以与由外部控制实体提供的输入组合以减少学习时间。

公开(公告)号：US20140371912A1

公开(公告)日：2014-12-18

申请号：US13918298

申请日：2013-06-14

Applicant: BRAIN CORPORATION

Inventor： Jean-Baptiste Passot ,  Oleg Sinyavskiy ,  Filip Ponulak ,  Patryk Laurent ,  Borja Ibarz Gabardos ,  Eugene Izhikevich ,  Vadim Polonichko

IPC: B25J9/16

CPC classification number: G06N3/049 ,  G06N3/008

Abstract: A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. The remote controller may comprise multiple control elements configured to activate respective portions of the robot platform. Based on training, the remote controller may configure composite controls configured based two or more of control elements. Activation of a composite control may enable the robot to perform a task.

Abstract translation: 机器人可以由使用者使用控制信号沿目标轨迹引导机器人的用户进行训练。 机器人可以包括自适应控制器。 控制器可以被配置为基于用户指导，感觉输入和性能测量来产生控制命令。 用户可以通过自适应配置的遥控器与机器人接口。 遥控器可以包括由用户根据机器人的表型和/或操作配置来配置的移动设备。 遥控器可以检测机器人表型和/或操作配置的变化。 遥控器可以包括配置成激活机器人平台的相应部分的多个控制元件。 基于培训，遥控器可以配置基于两个或多个控制元件的复合控制。 激活复合控件可以使机器人执行任务。