Systems and methods for controlling a robot
US11662731B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 12, 2021 |
| Grant date | May 30, 2023 |
| Priority date | — |
| Expiry date | Nov 1, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/163
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Systems and methods described herein relate to controlling a robot. One embodiment receives an initial state of the robot, an initial nominal control trajectory of the robot, and a Kullback-Leibler (KL) divergence bound between a modeled probability distribution for a stochastic disturbance and an unknown actual probability distribution for the stochastic disturbance; solves a bilevel optimization problem subject to the modeled probability distribution and the KL divergence bound using an iterative Linear-Exponential-Quadratic-Gaussian (iLEQG) algorithm and a cross-entropy process, the iLEQG algorithm outputting an updated nominal control trajectory, the cross-entropy process outputting a risk-sensitivity parameter; and controls operation of the robot based, at least in part, on the updated nominal control trajectory and the risk-sensitivity parameter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.