Robot imitation learning method, device, robot and storage medium

Abstract

The invention is applicable for the field of robots and intelligent control, and provides a robot imitation learning method and device, a robot and a storage medium. The method comprises the steps ofacquiring the pose of an end-effector at the current time when receiving movement instructions, and checking whether the pose at the current time is the target pose; determining that a preset imitation learning task is finished by the end-effector if the pose at the current time is the target pose; or else generating the predicted pose of the end-effector at the next time according to the pose atthe current time and a dynamic prediction model, and adjusting angles of joints according to the predicted pose; and setting the pose after adjustment of the end-effector to the pose at the current time, and skipping to the step of checking whether the pose at the current time is the target pose. The dynamic prediction model is obtained through a limit learning machine model in combination with preset stability constraint condition training, so that the stability, repetition precision and model training speed of robot imitation learning are ensured, and the humanization degree of robot motionis improved effectively.

Description

technical field [0001] The invention belongs to the technical field of robots and intelligent control, and in particular relates to a robot imitation learning method, device, robot and storage medium. Background technique [0002] In the current stage of robot applications, especially in the industrial application of robots, users usually pre-define the movement trajectory of the robot arm, or pre-set a certain task environment, so that the robot arm can repeat execution according to the plan. In this control mode, the manipulator cannot face changes in the task environment or sudden disturbances, or requires heavy manual programming to achieve tasks in complex scenes or difficult tasks. More importantly, the movement trajectory of the manipulator There is no implied human operating habit. Robot imitation learning is an important method to solve these problems. [0003] When modeling robot motion through imitation learning, researchers usually hope to achieve the following...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a robot imitation learning method, device, robot and storage medium, aiming to solve the problem that the stability, reproduction accuracy and model training speed of the robot imitation learning in the prior art cannot be guaranteed at the same time

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