公开(公告)号：US20220371203A1

公开(公告)日：2022-11-24

申请号：US17816727

申请日：2022-08-02

Applicant: TOKYO INSTITUTE OF TECHNOLOGY ,  KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masayuki FUJITA ,  Takeshi HATANAKA ,  Junya YAMAUCHI ,  Kosei NODA ,  Keita SHIMAMOTO ,  Koji SOKABE ,  Ryokichi HIRATA ,  Masaru ADACHI

IPC: B25J13/06 ,  B25J9/16

Abstract: A robot control system includes circuitry configured to: acquire an input command value indicating a manipulation of a robot by a subject user; acquire a current state of the robot and a target state associated with the manipulation of the robot; determine a state difference between the current state and the target state; acquire from a learned model, a degree of distribution associated with a motion of the robot, based on the state difference, wherein the learned model is generated based on a past robot manipulation; set a level of assistance to be given during the manipulation of the robot by the subject user, based on the degree of distribution acquired; and generate an output command value for operating the robot, based on the input command value and the level of assistance.