Learning to acquire and adapt contact-rich manipulation skills with motion primitives
US12384039B2 · kind B2 · utility
0Cited by
2References
21Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jun 21, 2022 |
| Grant date | Aug 12, 2025 |
| Priority date | — |
| Expiry date | Aug 29, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40116
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A computer-implemented method comprising, receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle, performing a parameter optimization process for the robot to perform the insertion task. This parameter optimization includes defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory and repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.