WO2015116271A3 - Apparatus and methods for operating robotic devices using selective state space training - Google Patents

Apparatus and methods for operating robotic devices using selective state space training Download PDF

Info

Publication number
WO2015116271A3
WO2015116271A3 PCT/US2014/063543 US2014063543W WO2015116271A3 WO 2015116271 A3 WO2015116271 A3 WO 2015116271A3 US 2014063543 W US2014063543 W US 2014063543W WO 2015116271 A3 WO2015116271 A3 WO 2015116271A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
training
trajectory
trained
methods
Prior art date
Application number
PCT/US2014/063543
Other languages
French (fr)
Other versions
WO2015116271A2 (en
Inventor
Jean-Baptiste Passot
Oleg SINYAVSKIY
Eugene Izhikevich
Original Assignee
Brain Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/070,114 external-priority patent/US9463571B2/en
Priority claimed from US14/070,269 external-priority patent/US9566710B2/en
Priority claimed from US14/070,239 external-priority patent/US20150127154A1/en
Application filed by Brain Corporation filed Critical Brain Corporation
Publication of WO2015116271A2 publication Critical patent/WO2015116271A2/en
Publication of WO2015116271A3 publication Critical patent/WO2015116271A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/049—Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

Apparatus and methods for training and controlling of e.g., robotic devices. In one implementation, a robot may be utilized to perform a target task characterized by a target trajectory. The robot may be trained by a user using supervised learning. The user may interface to the robot, such as via a control apparatus configured to provide a teaching signal to the robot. The robot may comprise an adaptive controller comprising a neuron network, which may be configured to generate actuator control commands based on the user input and output of the learning process. During one or more learning trials, the controller may be trained to navigate a portion of the target trajectory. Individual trajectory portions may be trained during separate training trials. Some portions may be associated with robot executing complex actions and may require additional training trials and/or more dense training input compared to simpler trajectory actions.
PCT/US2014/063543 2013-11-01 2014-10-31 Apparatus and methods for operating robotic devices using selective state space training WO2015116271A2 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US14/070,114 US9463571B2 (en) 2013-11-01 2013-11-01 Apparatus and methods for online training of robots
US14/070,269 US9566710B2 (en) 2011-06-02 2013-11-01 Apparatus and methods for operating robotic devices using selective state space training
US14/070,239 US20150127154A1 (en) 2011-06-02 2013-11-01 Reduced degree of freedom robotic controller apparatus and methods
US14/070,269 2013-11-01
US201361901235P 2013-11-07 2013-11-07

Publications (2)

Publication Number Publication Date
WO2015116271A2 WO2015116271A2 (en) 2015-08-06
WO2015116271A3 true WO2015116271A3 (en) 2015-11-12

Family

ID=53759690

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2014/063543 WO2015116271A2 (en) 2013-11-01 2014-10-31 Apparatus and methods for operating robotic devices using selective state space training
PCT/US2014/063540 WO2015116270A2 (en) 2013-11-01 2014-10-31 Reduced degree of freedom robotic controller apparatus and methods

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/US2014/063540 WO2015116270A2 (en) 2013-11-01 2014-10-31 Reduced degree of freedom robotic controller apparatus and methods

Country Status (1)

Country Link
WO (2) WO2015116271A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9314924B1 (en) * 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
JP6904682B2 (en) 2015-10-23 2021-07-21 株式会社半導体エネルギー研究所 Semiconductor devices and electronic devices
EP3935574A1 (en) * 2019-03-05 2022-01-12 HRL Laboratories, LLC Network -composition. module for a bayesian neuromorphic compiler

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4617502A (en) * 1983-06-30 1986-10-14 Hitachi, Ltd. Method and apparatus for controlling a robot hand along a predetermined path
US20110010006A1 (en) * 2008-03-28 2011-01-13 Daihen Corporation Robot control system
US20110208350A1 (en) * 2004-12-22 2011-08-25 Intelligent Hospital Systems Ltd. Automated pharmacy admixture system (apas)
US20130151442A1 (en) * 2011-12-13 2013-06-13 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) Method for learning task skill and robot using thereof

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3269005B2 (en) * 1997-05-12 2002-03-25 川崎重工業株式会社 Robot controller
US8818557B2 (en) * 2008-04-02 2014-08-26 University of Pittsburgh—of the Commonwealth System of Higher Education Cortical control of a prosthetic device
KR20110016521A (en) * 2009-08-12 2011-02-18 삼성전자주식회사 Whole-body operation control apparatus for humanoid robot and method thereof
US8260460B2 (en) * 2009-09-22 2012-09-04 GM Global Technology Operations LLC Interactive robot control system and method of use
RO125970B1 (en) * 2010-01-21 2019-03-29 Institutul De Mecanica Solidelor Al Academiei Române Method and device for the dynamic control of a walking robot
US9888973B2 (en) * 2010-03-31 2018-02-13 St. Jude Medical, Atrial Fibrillation Division, Inc. Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems
US8886359B2 (en) * 2011-05-17 2014-11-11 Fanuc Corporation Robot and spot welding robot with learning control function

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4617502A (en) * 1983-06-30 1986-10-14 Hitachi, Ltd. Method and apparatus for controlling a robot hand along a predetermined path
US20110208350A1 (en) * 2004-12-22 2011-08-25 Intelligent Hospital Systems Ltd. Automated pharmacy admixture system (apas)
US20110010006A1 (en) * 2008-03-28 2011-01-13 Daihen Corporation Robot control system
US20130151442A1 (en) * 2011-12-13 2013-06-13 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) Method for learning task skill and robot using thereof

Also Published As

Publication number Publication date
WO2015116270A3 (en) 2015-11-12
WO2015116270A2 (en) 2015-08-06
WO2015116271A2 (en) 2015-08-06

Similar Documents

Publication Publication Date Title
MX2022002983A (en) Deep machine learning methods and apparatus for robotic grasping.
WO2016014137A3 (en) Apparatuses, methods, and systems for defining hardware-agnostic brains for autonomous robots
WO2015017355A3 (en) Apparatus and methods for controlling of robotic devices
WO2014151926A3 (en) Robotic training apparatus and methods
EP3566821A4 (en) Robot movement control method, and robot
EP3357649A3 (en) Control device, robot, and robot system
EP3357651A3 (en) Control device, robot, and robot system
WO2017120623A3 (en) Modular sensing device for controlling a self-propelled device
WO2014201422A3 (en) Apparatus and methods for hierarchical robotic control and robotic training
WO2017180868A3 (en) User control device for a transporter
EP4342792A3 (en) Systems and methods for uav flight control
EP3719600A4 (en) Control system, factory system, learning system, estimation model generation method, and actuator state estimation method
PH12020500155A1 (en) Environmental equipment control apparatus
EP3120979A4 (en) Robot arm device, robot arm control method and program
JP2016221642A5 (en)
EP3135444A4 (en) Robot arm apparatus, robot arm control method, and program
JP2017148908A5 (en)
EP2684650A3 (en) System and method for performing remote welding operations on an apparatus
GB2523502A (en) Adaptive exoskeleton, devices and methods for controlling the same
EP2264572A3 (en) Method and apparatus for generating haptic feedback and an actuator
EP2915636A3 (en) Coordinated robotic control
EP3822045A4 (en) Manipulator control device, manipulator control method, and manipulator control program
EP3708464A4 (en) Vehicle movement control device, method, program, and system, and target trajectory generating device, method, program, and system
EP3626403A4 (en) Sensation imparting device, robot control system, and robot control method and program
MX2016000115A (en) Controlling a digging attachment along a path or trajectory.

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14881192

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14881192

Country of ref document: EP

Kind code of ref document: A2