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公开(公告)号：US20210402602A1
公开(公告)日：2021-12-30
申请号：US17117718
申请日：2020-12-10
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Galen Kailun Xing , Ziyun Wang , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A method for generating a trajectory of a robot from a first configuration to a second configuration within an environment while steering away from obstacles may include obtaining physical workspace information associated with the environment in which the robot is configured to operate; obtaining, using a first neural network, a set of weights of a second neural network that is configured to generate a set of values associated with a set of configurations of the robot with respect to the second configuration; obtaining, by applying the set of weights to the second neural network, the set of values associated with the set of configurations of the robot with respect to the second configuration; and generating the trajectory of the robot from the first configuration to the second configuration within the environment, based on the set of values.
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Patent Agency Ranking
公开(公告)号：US11642787B2
公开(公告)日：2023-05-09
申请号：US17117718
申请日：2020-12-10
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Galen Kailun Xing , Ziyun Wang , Ibrahim Volkan Isler , Daniel Dongyuel Lee
CPC classification number: B25J9/1666 , B25J9/161 , B25J9/163 , G01C21/3446 , G05D1/0221 , G05D1/0251 , G05B2219/33028 , G05B2219/40455 , G05B2219/40506
Abstract: A method for generating a trajectory of a robot from a first configuration to a second configuration within an environment while steering away from obstacles may include obtaining physical workspace information associated with the environment in which the robot is configured to operate; obtaining, using a first neural network, a set of weights of a second neural network that is configured to generate a set of values associated with a set of configurations of the robot with respect to the second configuration; obtaining, by applying the set of weights to the second neural network, the set of values associated with the set of configurations of the robot with respect to the second configuration; and generating the trajectory of the robot from the first configuration to the second configuration within the environment, based on the set of values.
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公开(公告)号：US12228937B2
公开(公告)日：2025-02-18
申请号：US17377890
申请日：2021-07-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A system and a method for generating a trajectory of a target device from a current position to a goal position within an environment is provided. The method may include: inputting physical workspace information associated with the environment in which the target device, to a first neural network to obtain a set of weights representing a cost-to-go function that defines a cost-to-go function relating to a length of a collision-free path from one position to the goal position; configuring a second neural network based on the set of weights; identifying a next position of the target device based on the current position and a motion control input of the target; and inputting the identified next position of the target device and the goal position to the second neural network to identify the trajectory to the goal position, and the motion control input corresponding to the trajectory.
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公开(公告)号：US11170526B2
公开(公告)日：2021-11-09
申请号：US16725672
申请日：2019-12-23
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Tarik Tosun , Eric Mitchell , Ben Eisner , Jinwook Huh , Bhoram Lee , Daewon Lee , Volkan Isler , Sebastian Seung , Daniel Lee
Abstract: An apparatus for estimating a trajectory of a tool may include: a memory storing instructions; and a processor configured to execute the instructions to: receive a task to be performed by the tool on a target object; receive a grayscale image and a depth image of the target object; and estimate a tool trajectory for performing the task, from the grayscale image and the depth image, via a pixels-to-plans neural network that is trained based on a labeled tool trajectory that is generated from a point cloud model of the target object.
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公开(公告)号：US20220276657A1
公开(公告)日：2022-09-01
申请号：US17377890
申请日：2021-07-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A system and a method for generating a trajectory of a target device from a current position to a goal position within an environment is provided. The method may include: inputting physical workspace information associated with the environment in which the target device, to a first neural network to obtain a set of weights representing a cost-to-go function that defines a cost-to-go function relating to a length of a collision-free path from one position to the goal position; configuring a second neural network based on the set of weights; identifying a next position of the target device based on the current position and a motion control input of the target; and inputting the identified next position of the target device and the goal position to the second neural network to identify the trajectory to the goal position, and the motion control input corresponding to the trajectory.
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公开(公告)号：US20200311969A1
公开(公告)日：2020-10-01
申请号：US16725672
申请日：2019-12-23
Applicant: Samsung Electronics Co., Ltd.
Inventor： Tarik Tosun , Eric Mitchell , Ben Eisner , Jinwook Huh , Bhoram Lee , Daewon Lee , Volkan Isler , Sebastian Seung , Daniel Lee
Abstract: An apparatus for estimating a trajectory of a tool may include: a memory storing instructions; and a processor configured to execute the instructions to: receive a task to be performed by the tool on a target object; receive a grayscale image and a depth image of the target object; and estimate a tool trajectory for performing the task, from the grayscale image and the depth image, via a pixels-to-plans neural network that is trained based on a labeled tool trajectory that is generated from a point cloud model of the target object.
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