Apparatus and method for controlling a robotic device
CN114516060BActive Publication Date: 2026-06-26ROBERT BOSCH GMBH
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2021-11-19
- Publication Date
- 2026-06-26
AI Technical Summary
Technical Problem
Existing technologies struggle to effectively consider the relationship between the object and other objects, as well as the geometric conditions of the robot device, leading to a high failure rate in grasping and movement.
Method used
By training a deep image model, combining a hidden semi-Markov model and a neural network, robot trajectories and configurations are generated, taking into account the dynamic conditions of the object and the robot device, and optimizing the grasping and movement paths.
Benefits of technology
It significantly reduces the failure rate of robotic devices in grasping and moving objects, and increases the success rate.
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Smart Images
Figure CN114516060B_ABST
Abstract
An apparatus and a method for controlling a robot device with a control model are disclosed, wherein the control model has a robot trajectory model with an implicit semi-Markov model for picking up, a precondition model with a probability distribution of robot configurations before the picking up is performed, and an object picking up model outputting a plurality of picking up robot configurations with corresponding assigned probabilities of success, and the method has determining a depth image showing one or more objects, determining for at least one object to be moved a picking up robot configuration with a probability of success above a predefined threshold by means of the object picking up model using the depth image, determining for the picking up robot configuration with the highest probability of success among the picking up robot configurations a robot trajectory for picking up by means of the robot trajectory model according to the precondition model, and controlling the robot device to perform the picking up of the object by means of the determined robot trajectory.
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