Track generation device, track generation method, and storage medium storing track generation program
By acquiring successful and failed trajectory information of the soft robot and generating the target trajectory using a Gaussian mixture model, the problem of the plug not reaching the hole or being over-inserted in the soft robot insertion task is solved, thus improving the task success rate.
CN116323110BActive Publication Date: 2026-07-10OMRON CORP +1
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- OMRON CORP
- Filing Date
- 2021-09-28
- Publication Date
- 2026-07-10
AI Technical Summary
Technical Problem
Existing technologies struggle to efficiently generate target trajectory information for soft robot tasks, leading to issues such as plugs not reaching the holes or being over-inserted during insertion tasks.
Method used
By acquiring successful and failed trajectory information, target trajectory information, including the position and attitude state of the clamps, is generated using a Gaussian mixture model clustering method to avoid the failed trajectory.
Benefits of technology
This improved the success rate of the soft robot in completing tasks, avoided insertion failures and over-insertion issues, and achieved more efficient insertion operations.
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Smart Images
Figure CN116323110B_ABST
Abstract
An orbit generation device includes: an acquisition unit that acquires success orbit information and failure orbit information, the success orbit information and the failure orbit information being orbit information indicating a series of states of a control object taught by a teacher, the success orbit information being orbit information when a task performed by the control object is successful, and the failure orbit information being orbit information when the task is failed; a clustering unit that generates a cluster of success classes regarding states of the control object based on states of the control object belonging to the success orbit information and states of the control object belonging to the failure orbit information; and a generation unit that generates target orbit information indicating a series of states of the control object, which can be used as a control target when the control object performs the task, based on the cluster of the success classes.
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