公开(公告)号：US20160263744A1

公开(公告)日：2016-09-15

申请号：US15051002

申请日：2016-02-23

申请人： KUKA Roboter GmbH

发明人： Christoph Dzierzega ,  Markus Dinkhoff

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40443 ,  G05B2219/40496

摘要： A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

摘要翻译： 用于改变具有至少一个机器人的机器人装置的初始预定路径的方法包括：选择初始预定路径的一部分，改变路径的选定部分，并且基于路径的改变部分预先确定改变的路径。 确定初始预定路径和改变的路径之间的偏差，如果偏差满足反应的预定条件，则触发反应。 在另一方面，一种计算机程序产品在由计算机执行时使计算机选择初始预定路径的一部分，改变路径的所选部分，基于路径的改变部分预先确定改变的路径，确定 初始预定和改变的路径之间的偏差，并且如果偏差满足反应的预定条件则触发反应。

公开(公告)号：US11960991B2

公开(公告)日：2024-04-16

申请号：US16950396

申请日：2020-11-17

申请人： Robert Bosch GmbH ,  Carnegie Mellon University

发明人： Rizal Fathony ,  Frank Schmidt ,  Jeremy Zieg Kolter

IPC分类号： G06N3/0464 ,  A63F13/67 ,  G05B19/4155 ,  G06N3/08 ,  G06N3/084 ,  G07C3/00 ,  G07C9/10 ,  G06F18/21 ,  G06F18/24

CPC分类号： G06N3/08 ,  A63F13/67 ,  G05B19/4155 ,  G06N3/0464 ,  G06N3/084 ,  G07C3/005 ,  G07C9/10 ,  G05B2219/40496 ,  G06F18/21 ,  G06F18/24

摘要： A computer-implemented method for training a classifier, particularly a binary classifier, for classifying input signals to optimize performance according to a non-decomposable metric that measures an alignment between classifications corresponding to input signals of a set of training data and corresponding predicted classifications of the input signals obtained from the classifier. The method includes providing weighting factors that characterize how the non-decomposable metric depends on a plurality of terms from a confusion matrix of the classifications and the predicted classifications, and training the classifier depending on the provided weighting factors.

公开(公告)号：US09902065B2

公开(公告)日：2018-02-27

申请号：US15051002

申请日：2016-02-23

申请人： KUKA Roboter GmbH

发明人： Christoph Dzierzega ,  Markus Dinkhoff

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40443 ,  G05B2219/40496

摘要： A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.

公开(公告)号：US08849452B2

公开(公告)日：2014-09-30

申请号：US12999791

申请日：2010-05-25

申请人： Masanori Takeda ,  Mitsuhide Kuroda ,  Shigeru Kanzaki ,  Takahide Yoshiike ,  Takumi Kamioka

发明人： Masanori Takeda ,  Mitsuhide Kuroda ,  Shigeru Kanzaki ,  Takahide Yoshiike ,  Takumi Kamioka

IPC分类号： G05B19/18 ,  B62D57/032

CPC分类号： B62D57/032 ,  B25J9/1679 ,  G05B2219/40496

摘要： A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form.Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

摘要翻译： 考虑到受控对象的作用目的以任意形式的干扰，能够使受控对象以适当的形式起作用的控制系统等。 根据频带的级别分层组织的多个模块modi中的每一个都搜索作为与主要目的和子目的匹配的机器人R的动作形式的候选的动作候选，同时优先考虑 一个主要目的主要是负责模块的子目的，主要由任何其他模块负责。 机器人R的动作被控制为以高频率的第j模块搜索的机器人R的动作候选优先于由（j）搜索的机器人R的动作候选的形式来进行控制 +1）的低频模块。

公开(公告)号：US06556892B2

公开(公告)日：2003-04-29

申请号：US09980137

申请日：2002-03-19

申请人： Yoshihiro Kuroki ,  Tatsuzo Ishida

发明人： Yoshihiro Kuroki ,  Tatsuzo Ishida

IPC分类号： G05B1900

CPC分类号： G06N3/008 ,  G05B19/00 ,  G05B2219/39001 ,  G05B2219/39254 ,  G05B2219/39376 ,  G05B2219/40213 ,  G05B2219/40496

摘要： A controlling apparatus for a robot of the type formed by a plurality of joint actuators and operating in accordance with a behavioral schedule comprises a behavior scheduling unit for setting a robot's behavioral schedule, an operation controller for implementing an operational pattern corresponding to the behavioral schedule as determined by the behavior scheduling unit by driving each joint actuator, a detector for detecting the state of operation implementation by the operation controller and a recording unit for recording a log including the behavioral schedule by the behavior scheduling unit and the state of operation implementation by the detector. A user issuing a command for the robot is authenticated and the contents of the command supplied from the user are recorded in combination with the behavior taken by the robot responsive to the command and the time point of implementation of the behavior.

公开(公告)号：US20070112700A1

公开(公告)日：2007-05-17

申请号：US11551759

申请日：2006-10-23

申请人： Albert Den Haan ,  Franco Ballotta

发明人： Albert Den Haan ,  Franco Ballotta

IPC分类号： G06F15/18

CPC分类号： G05D1/027 ,  G05B2219/39146 ,  G05B2219/40298 ,  G05B2219/40496 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0295 ,  G05D1/0297 ,  Y02P90/265

摘要： A control system for a mobile autonomous system. The control system comprises a generic controller platform including: at least one microprocessor; and a computer readable medium storing software implementing at least core functionality for controlling autonomous system. One or more user-definable libraries adapted to link to the generic controller platform so as to instantiate a machine node capable of exhibiting desired behaviours of the mobile autonomous system.

摘要翻译： 一种移动自主系统的控制系统。 控制系统包括通用控制器平台，包括：至少一个微处理器; 以及存储至少实现用于控制自主系统的核心功能的软件的计算机可读介质。 一个或多个用户可定义的库适于链接到通用控制器平台，以便实例化能够表现出移动自主系统的期望行为的机器节点。

公开(公告)号：US20020120361A1

公开(公告)日：2002-08-29

申请号：US09980137

申请日：2002-03-19

发明人： Yoshihiro Kuroki ,  Tatsuzo Ishida

IPC分类号： G06F019/00

CPC分类号： G06N3/008 ,  G05B19/00 ,  G05B2219/39001 ,  G05B2219/39254 ,  G05B2219/39376 ,  G05B2219/40213 ,  G05B2219/40496

摘要： A controlling apparatus for a robot of the type formed by a plurality of joint actuators and operating in accordance with a behavioral schedule comprises a behavior scheduling unit for setting a robot's behavioral schedule, an operation controller for implementing an operational pattern corresponding to the behavioral schedule as determined by the behavior scheduling unit by driving each joint actuator, a detector for detecting the state of operation implementation by the operation controller and a recording unit for recording a log including the behavioral schedule by the behavior scheduling unit and the state of operation implementation by the detector. A user issuing a command for the robot is authenticated and the contents of the command supplied from the user are recorded in combination with the behavior taken by the robot responsive to the command and the time point of implementation of the behavior.

摘要翻译： 一种用于由多个关节致动器形成的类型的机器人的控制装置，其根据行为调度进行操作包括：行为调度单元，用于设置机器人的行为调度;操作控制器，用于实现与行为调度相对应的操作模式; 由行为调度单元通过驱动每个关节致动器确定的检测器，用于检测由操作控制器执行的操作状态的检测器和用于记录由行为调度单元包括行为调度的日志的记录单元以及由行为调度单元执行的操作状态的记录单元 探测器。 对机器人发出命令的用户进行身份验证，并根据命令和执行行为的时间点结合使用者所提供的命令的内容与机器人采取的行为相结合。

公开(公告)号：US20110231017A1

公开(公告)日：2011-09-22

申请号：US12999791

申请日：2010-05-25

申请人： Masanori Takeda ,  Mitsuhide Kuroda ,  Shigeru Kanzaki ,  Takahide Yoshiike ,  Takumi Kamioka

发明人： Masanori Takeda ,  Mitsuhide Kuroda ,  Shigeru Kanzaki ,  Takahide Yoshiike ,  Takumi Kamioka

IPC分类号： G05B19/04

CPC分类号： B62D57/032 ,  B25J9/1679 ,  G05B2219/40496

摘要： A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form.Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

摘要翻译： 考虑到受控对象的作用目的以任意形式的干扰，能够使受控对象以适当的形式起作用的控制系统等。 根据频带的级别分层组织的多个模块modi中的每一个都搜索作为与主要目的和子目的匹配的机器人R的动作形式的候选的动作候选，同时优先考虑 一个主要目的主要是负责模块的子目的，主要由任何其他模块负责。 机器人R的动作被控制为以高频率的第j模块搜索的机器人R的动作候选优先于由（j）搜索的机器人R的动作候选的形式来进行控制 +1）的低频模块。

公开(公告)号：US06560512B1

公开(公告)日：2003-05-06

申请号：US10041713

申请日：2002-01-04

申请人： David Rosen ,  Alan Rosen

发明人： David Rosen ,  Alan Rosen

IPC分类号： G05B1500

CPC分类号： G06N3/008 ,  B25J9/1664 ,  B25J9/1694 ,  G05B2219/33012 ,  G05B2219/40427 ,  G05B2219/40496

摘要： The relational robotic controller (RRC) is a robotic control devise made up of a stack of relational correlation sequencers (RCS). The RRC controls the tasks (including sound generation, memory storage and retrieval tasks) performed by a robot. The RRC is programmed to perform all tasks relative a self location and identification task, performed by a nodal map, known as the self nodal map, and associated with one of the RCS that make up the RRC. The self-nodal map, operating simultaneously while other nodal maps are performing other tasks, acts as a recording monitor that senses data from pressure transducers, cameras, and microphones, relative to the self of the robot. When a phoneme-sound generating, auditory-microphone, and memory storage and retrieval RCS capability is coupled with a visual-camera capability, a RRC controlled robot may be trained to achieve coordinated camera visualization, memory recall, and verbal communication.

摘要翻译： 关系机器人控制器（RRC）是由一系列关系相关序列器（RCS）组成的机器人控制装置。 RRC控制由机器人执行的任务（包括声音生成，存储器和检索任务）。 RRC被编程为相对于自身位置和识别任务执行所有任务，由称为自节点映射的节点映射执行，并且与组成RRC的RCS中的一个相关联。 相对于自动机器人的自身，自身节点图在其他节点图正在执行其他任务的同时运行，充当感测来自压力传感器，照相机和麦克风的数据的记录监视器。 当声音产生，听觉麦克风和存储器存储和检索RCS能力与视觉摄像机能力相结合时，可以训练RRC控制的机器人以实现协调的摄像机可视化，存储器回忆和语言通信。