Method and system for training a robot using human-assisted task demonstration
US8843236B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 15, 2012 |
| Grant date | Sep 23, 2014 |
| Priority date | — |
| Expiry date | Oct 16, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40512
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.