-
公开(公告)号：US12124651B2
公开(公告)日：2024-10-22
申请号：US18114453
申请日：2023-02-27
发明人： Jeff Kranski , Adrian Kaehler
CPC分类号： G06F3/04166 , G06F17/142 , H03M3/496
摘要： A system includes a robot having contact surfaces and a sensor array having a spatially distributed touch sensors disposed on the contact surfaces. Each touch sensor has an identifier and outputs an analog signal at a set of frequencies associated with the identifier The sensor array outputs a combined analog signal representative of a combination of the analog signals outputted by the touch sensors. The system includes an analog-to-digital converter that generates a digital signal in a time domain based on the combined analog signal. The system includes one or more processing units that transforms the digital signal from the time domain to a frequency domain and detects locations of touch within the sensor array based on frequencies observed the frequency domain and the identifiers of the touch sensors.
-
公开(公告)号：US20240253243A1
公开(公告)日：2024-08-01
申请号：US18425547
申请日：2024-01-29
发明人： Suzanne Gildert
IPC分类号： B25J13/00
CPC分类号： B25J13/003
摘要： A robotic system includes a robot, and an interface to a large language model (LLM). The robot operates in an environment that includes a human. In an example method of operation of the robotic system, the robot initiates a task. After initiating the task, the robot detects that the human is waiting for the robot to complete the task. The interface sends a query to the LLM. The query includes a natural language statement describing a context in the natural language for the query. The interface receives a response from the LLM in reply to the query. The response includes a natural language statement describing material related to the context and suitable for an interim interaction that can be initiated by the robot with the human. The robot initiates the interim interaction with the human. The interim interaction may be initiated autonomously by the robot, and may include a diversion.
-
公开(公告)号：US20240253221A1
公开(公告)日：2024-08-01
申请号：US18425557
申请日：2024-01-29
发明人： Suzanne Gildert
IPC分类号： B25J9/16
CPC分类号： B25J9/1658 , B25J9/163 , B25J9/1653
摘要： A robotic system includes a robot, an object recognition subsystem, an interface to a large language model (LLM), and a system controller. The robot operates in an environment that includes a first and a second object. In an example method of operation of the robotic system, the object recognition subsystem assigns a first label to the first object. The interface sends a query, including the first label, to the LLM. The interface receives a response from the LLM, the response in reply to the query and including a second label. The object recognition subsystem assigns the second label to the second object. In some implementations, the object recognition subsystem includes sensors and a sensor data processor. The sensors scan the environment to generate sensor data, and the sensor data processor detects the presence of the first and the second object based at least in part on the sensor data.
-
4.发明公开公开(公告)号：US20240253216A1
公开(公告)日：2024-08-01
申请号：US18424551
申请日：2024-01-26
发明人： Geordie Rose , Suzanne Gildert
CPC分类号： B25J9/163 , B25J9/161 , B25J9/1661 , B25J19/02
摘要： Robot control systems, methods, control modules and computer program products that leverage one or more large language model(s) (LLMs) in order to achieve at least some degree of autonomy are described. Robot control parameters, environment details, and/or instructions may advantageously be specified in natural language (NL) and communicated with the LLM via an NL prompt or query. The NL query may include a request for one or more work objectives from the LLM, such as “What can I do here?”, thereby establishing a form of agency by which the robot system may identify activities to perform without operator intervention. The LLM may also be queried to convert each work objective into a task plan providing a sequence of steps that the robot system may execute to complete the work objective. Optionally, the robot system may communicate with an operator to determine whether or not to execute a task plan.
-
公开(公告)号：US20240246231A1
公开(公告)日：2024-07-25
申请号：US18616040
申请日：2024-03-25
发明人： Suzanne Gildert , Olivia Norton , Geordie Rose
IPC分类号： B25J9/16
CPC分类号： B25J9/1661
摘要： Systems, devices, and methods for training and operating (semi-)autonomous robots to complete multiple different work objectives are described. A robot control system stores a library of reusable work primitives each corresponding to a respective basic sub-task or sub-action that the robot is operative to autonomously perform. A work objective is analyzed to determine a sequence (i.e., a combination and/or permutation) of reusable work primitives that, when executed by the robot, will complete the work objective. The robot executes the sequence of reusable work primitives to complete the work objective. The reusable work primitives may include one or more reusable grasp primitives that enable(s) a robot's end effector to grasp objects. Simulated instances of real physical robots may be trained in simulated environments to develop control instructions that, once uploaded to the real physical robots, enable such real physical robots to autonomously perform reusable work primitives.
-
公开(公告)号：US20240096003A1
公开(公告)日：2024-03-21
申请号：US18367115
申请日：2023-09-12
发明人： Suzanne Gildert , Geordie Rose
CPC分类号： G06T15/20 , G06T7/75 , G06T19/20 , G06T2219/2004
摘要： Systems, methods, and computer program products for managing and populating environment models are described. An environment model is accessed which represents an environment, and the environment model is populated with instances of object models. Locations where the instances of object models should be positioned in the environment model are identified, by determining where in the environment model a respective size of each instance when viewed from a vantage point at the environment model matches a size of the object represented by the respective instance when viewed from a corresponding vantage point at the environment.
-
公开(公告)号：US20230415340A1
公开(公告)日：2023-12-28
申请号：US18244916
申请日：2023-09-12
发明人： Adrian L. Kaehler , Christopher M. Cianci , Kyle J. Martin , Carolyn Wales , Jeffrey S. Kranski
CPC分类号： B25J9/1664 , B25J13/085 , B25J15/10 , B25J9/06 , B25J9/126 , B25J9/161 , B25J13/089 , B25J9/1075
摘要： A robot is provided having a kinematic chain comprising a plurality of joints and links, including a root joint connected to a robot pedestal, and at least one end effector. A plurality of actuators are fixedly mounted on the robot pedestal. A plurality of tendons is connected to a corresponding plurality of actuation points on the kinematic chain and to actuators in the plurality of actuators, arranged to translate actuator position and force to actuation points for tendon-driven joints on the kinematic chain with losses in precision due to variability of tendons in the plurality of tendons. A controller operates the kinematic chain to perform a task. The controller is configured to generate actuator command data in dependence on the actuator states and image data in a manner that compensates for the losses in precision in the tendon-driven mechanisms.
-
公开(公告)号：US11848014B2
公开(公告)日：2023-12-19
申请号：US16924879
申请日：2020-07-09
发明人： Holly Marie Peck
CPC分类号： G10L15/22 , G06F16/63 , G10L15/16 , G10L15/25 , G10L25/63 , G10L2015/223 , G10L2015/227
摘要： Human-machine interfaces may capture interactions by humans with robots (e.g., robots with a humanoid appearance), the interactions taking a variety of forms (e.g., audio, visual), and may determine an intent of the humans or meaning of human responses via analysis of the interactions. Intent can be determined based on analysis of aural response, including meaning or semantics and/or tone. Intent can be determined based on analysis of visually detectable responses, including head motions, facial gestures, hand or arm gestures, eye gestures. Responses may be compared for consistency. Humans may be queried to confirm determined intended response.
-
9.发明公开公开(公告)号：US20230381957A1
公开(公告)日：2023-11-30
申请号：US18231888
申请日：2023-08-09
发明人： Suzanne Gildert , Olivia Norton , Geordie Rose
CPC分类号： B25J9/163 , B25J11/008 , B25J9/161 , B25J9/1671 , B25J9/1689
摘要： Robots, systems, methods, and computer program products for training and operating (semi-)autonomous robots to complete work objectives are described. A robot accesses a library of reusable work primitives from a catalog of libraries of reusable work primitives, each reusable work primitive corresponding to a respective basic sub-action that the robot is trained to autonomously perform. A work objective is analyzed to determine a sequence of reusable work primitives that complete the work objective, and the robot executes the sequence to complete the work objective. A robot can be deployed with access to an appropriate library of reusable work primitives, based on expectations for the robot. The robot is trained to perform reusable work primitives in multiple libraries, by generating control instructions which cause the robot to perform each reusable work primitive. Training is performed by real-world robots performing reusable work primitives, or simulated robot instances performing the reusable work primitives.
-
公开(公告)号：US20230339104A1
公开(公告)日：2023-10-26
申请号：US18209853
申请日：2023-06-14
发明人： Adrian Kaehler
CPC分类号： B25J9/161 , B25J9/1612 , B25J19/023 , B25J9/1697 , G06F18/24
摘要： A software compensated robotic system makes use of recurrent neural networks and image processing to control operation and/or movement of an end effector. Images are used to compensate for variations in the response of the robotic system to command signals. This compensation allows for the use of components having lower reproducibility, precision and/or accuracy that would otherwise be practical.
-
-
-
-
-
-
-
-
-
搜索结果
139 条记录 (耗时 0.031 秒)
