公开(公告)号：US12172309B2

公开(公告)日：2024-12-24

申请号：US17047892

申请日：2019-04-22

Applicant: Google LLC

Inventor： Jie Tan ,  Tingnan Zhang ,  Atil Iscen ,  Erwin Coumans ,  Yunfei Bai

IPC: B62D57/032 ,  B25J9/16 ,  G05D1/00 ,  G06N3/042 ,  G06N3/08

Abstract: Training and/or using a machine learning model for locomotion control of a robot, where the model is decoupled. In many implementations, the model is decoupled into an open loop component and a feedback component, where a user can provide a desired reference trajectory (e.g., a symmetric sine curve) as input for the open loop component. In additional and/or alternative implementations, the model is decoupled into a pattern generator component and a feedback component, where a user can provide controlled parameter(s) as input for the pattern generator component to generate pattern generator phase data (e.g., an asymmetric sine curve). The neural network model can be used to generate robot control parameters.

公开(公告)号：US20210162589A1

公开(公告)日：2021-06-03

申请号：US17047892

申请日：2019-04-22

Applicant: Google LLC

Inventor： Jie Tan ,  Tingnan Zhang ,  Atil Iscen ,  Erwin Coumans ,  Yunfei Bai

IPC: B25J9/16 ,  G05D1/08 ,  B62D57/032 ,  G06N3/04 ,  G06N3/08

Abstract: Training and/or using a machine learning model for locomotion control of a robot, where the model is decoupled. In many implementations, the model is decoupled into an open loop component and a feedback component, where a user can provide a desired reference trajectory (e.g., a symmetric sine curve) as input for the open loop component. In additional and/or alternative implementations, the model is decoupled into a pattern generator component and a feedback component, where a user can provide controlled parameter(s) as input for the pattern generator component to generate pattern generator phase data (e.g., an asymmetric sine curve). The neural network model can be used to generate robot control parameters.