70 results about "Analog robot" patented technology

The invention discloses an intelligent task planning method and device based on environment perception, equipment and a medium, and the method comprises the steps: fusing abstract environment information into a large language model, and carrying out the fine adjustment of the large language model, so as to enhance the environment perception capability of the large language model; inputting a task target and an environment state table into the fine-tuned large language model, and generating a multi-step action sequence with the highest probability through a step-by-step beam search strategy; according to the generated action sequence, the environment data state table is updated by simulating interaction between the robot agent and other objects, and therefore interaction tracks corresponding to the steps are generated. According to the method, the model is adjusted into an environment perception large language model fine tuning structure, so that higher accuracy and practicability are brought to intelligent task planning; the large language model can explore a wider search space by utilizing a step-by-step beam search strategy, so that more comprehensive search is beneficial to generating a more reasonable and effective plan.

Implementations are provided for training an imitation robot control stack model to approximate the behavior of a robot control stack. In various implementations one or more training examples for training an imitation robot control stack model may be received. The training examples may comprise: input data to a robot control stack, wherein the input data comprises (i) a high-level command for controlling a robot, and (ii) current state data of the robot and an environment, and output data generated based on processing, by the robot control stack, the input data to the robot control stack, wherein the output data comprises a low-level command for controlling the robot according to the high-level command. The imitation robot control stack model may be trained based on the one or more training examples. Operation of the robot may be simulated based in part on controlling the operation of the robot using the trained imitation robot control stack model.

A method of grasp generation for a robot includes searching within a configuration space of a robot hand model for robot hand configurations to engage an object model with a grasp type. The method includes generating a set of candidate grasps based on the robot hand configurations. Grasping of the object model with the robot hand model is simulated in a physics engine using simulated grasps generated based on a given candidate grasp. A simulated grasp is assigned a score based on a response of the object model to an applied wrench disturbance when the object is engaged with the simulated grasp. The method includes generating a set of feasible grasps for the given candidate grasp based on the respective simulated grasps having a score above a score threshold at a target wrench disturbance.

Provided are a method, system, and non-transitory computer-readable medium for real-time autonomous path planning for a robotic device. The method includes receiving data about the robotic device in a three-dimensional workspace, encapsulating objects in the environment of the robotic device including the robotic device, a target, and one or more obstacles in simulated robotic space, calculating a direction of movement for the robotic device according to three virtual forces including a virtual attractive force, a virtual repulsive force, and a virtual tangential force acting at least partially perpendicularly relative to the virtual repulsive force, mapping each virtual force in the three-dimensional workspace into torque vectors in the simulated robotic space at each joint, converting a sum of the torque vectors into one or more commands for the robotic device defining a path to reach the target, and sending the one or more commands to the robotic device.

The present invention relates to a method for verifying a service scenario by using a simulation of a virtual environment, and may comprise the steps of: generating a virtual environment corresponding to a real environment in which a service scenario is to be executed; simulating an operation of a robot on the basis of the service scenario in the generated virtual environment; and verifying the service scenario by using result data of the simulation. Acknowledgement: This patent is the result of research conducted, with the support of the Korea Institute of Procurement, using funds of the government (public procurement service) in 2025. (No.RS-2025-16072908).

Robots, systems, methods, and computer program products for training and operating (semi-)autonomous robots to complete work objectives are described. A robot accesses a library of reusable work primitives from a catalog of libraries of reusable work primitives, each reusable work primitive corresponding to a respective basic sub-action that the robot is trained to autonomously perform. A work objective is analyzed to determine a sequence of reusable work primitives that complete the work objective, and the robot executes the sequence to complete the work objective. A robot can be deployed with access to an appropriate library of reusable work primitives, based on expectations for the robot. The robot is trained to perform reusable work primitives in multiple libraries, by generating control instructions which cause the robot to perform each reusable work primitive. Training is performed by real-world robots performing reusable work primitives, or simulated robot instances performing the reusable work primitives.

The invention relates to the field of part detection, in particular to a robot joint part strength detection device. The existing strength detection device is inconvenient to gradually apply larger pressure to the contact surface of the inner side of the joint ring during detection, and the wear resistance of the joint ring is difficult to detect under different operation pressures, so that the detection is not sufficient and comprehensive and fits the reality, and the detection effect on the joint ring is poor. A robot joint part strength detection device comprises: an outer frame provided with an inlet / outlet; and the supporting plate is uniformly provided with three sliding chutes at intervals and is fixedly connected in the outer frame. An electric sliding rail drives an electric sliding block to extrude a positioning ring through a first ball to enable a rotating plate to rotate, a clamping block and a rubber block clamp the joint ring, stability in the detection process is ensured, a motor drives a rotating frame, a sliding frame and a detection roller to rotate around the inner side of the joint ring, and then the actual state of the robot joint in operation is simulated. Therefore, fatigue detection is carried out on the joint ring.

The invention relates to the technical field of robot control, and provides a robot multi-terrain adaptive control system based on ROS and Gazebo, and the robot multi-terrain adaptive control system comprises a Gazebo simulation platform and an ROS environment. The Gazebo simulation platform is used for simulating the terrain environment where the robot is located to obtain a robot URDF model which comprises an environment model of terrain features; the ROS environment is used for selecting a motion mode of the robot after analyzing the environment model, preliminarily selecting motion parameters and an initial gravity center of the robot according to the selected motion mode and topographic features, and controlling the robot to start to move according to the preliminarily selected motion mode, motion parameters and initial gravity center; during the period, ZMP positions and foot end positions of a plurality of time steps in the future are planned according to the gravity center position and a preset ZMP coefficient, a landing compensation value of the robot is calculated based on motion parameters and topographic features of the robot, and error correction is conducted on the robot according to the size of the landing compensation value.

A computer-implemented method includes evaluating environmental parameters of an activity area where a robot will operate using sensors and analyzing the robot to identify parts needing a protective coating. A protective coating material and thickness are determined based on the environmental parameters and robot analysis. Robotic motion is simulated with the protective coating to optimize protection and mobility. The protective coating is applied to the robot, using three-dimensional (3D) printing, based on the simulation results.

A simulation setup support device (1) configured to perform setup assistance for simulating an operation in one of which a robot performs a predefined task, the simulation setup support device (1) comprising an input device (2) configured to receive task information relating to the predefined task, a memory (3) storing multiple keywords associated with multiple tasks containing the predefined task, and further storing sequences of setup steps required to simulate an operation in which the robot performs the task, and a processor (4) configured to compare character information extracted from the task information with the keywords and to process one or more of the sequences of setup steps associated with one or more of the keywords.which correspond to the character information, and a display device (5) which is configured to display one or more of the sequences of setting steps selected by the processor (4).

To provide an information processing device and the like capable of simulating robot control without exceeding a limit of a movable range of an operation in simulation of robot control of a multi-axis robot.SOLUTION: The information processing device includes a learning unit configured to generate a learning model learned by simulation in a virtual space, a storage unit configured to store robot configuration information, a reception unit configured to receive work space information for executing teaching and a work requirement set in advance for a workpiece, and a generation unit configured to generate a three dimensional model of a work space including the robot and the workpiece in the virtual space based on the robot configuration information and the work space information. And a simulation unit that outputs a result of simulating an operation of the robot satisfying the work requirements as control information of the movable range in the real space based on the learning model.SELECTED DRAWING: Figure 1

The objective of the present invention is to provide a simulation device and a program capable of simulating an operation of a robot, even without a branch determination being made by a human. A simulation device according to an embodiment is provided with a simulation unit which, for an operating program for operating a robot, the operating program including a branch for proceeding to different branch destinations depending on a state of a variable, simulates the operations of the robot when proceeding to each of the different plurality of branch destinations, by causing the state of the variable to vary such that the operating program proceeds to the different branch destinations.

This invention relates to the field of component testing, and more particularly to a strength testing device for robot joint components. Existing strength testing devices are not convenient for gradually applying increasing pressure to the inner contact surface of the joint ring during testing, and it is difficult to test the wear resistance of the joint ring under different operating pressures. This results in insufficient and incomplete testing, failing to accurately reflect reality and leading to poor testing results for the joint ring. A robot joint component strength testing device includes: an outer frame with an inlet and outlet; and a support plate with three evenly spaced grooves fixed within the outer frame. An electric slide rail drives an electric slider to rotate a rotating plate via a ball bearing and a positioning ring, causing a clamping rubber block to clamp the joint ring, ensuring stability during testing. A motor drives a rotating frame, a sliding frame, and a testing roller to rotate around the inner side of the joint ring, thereby simulating the actual state of the robot joint during operation and performing fatigue testing on the joint ring.

A method for designing a robotic work cell includes generating a simulated robotic work environment with objects including work materials and at least one robot. Semantic markers attached to objects define constraints for a robotic task. User input activates a semantic marker, and a robot pose is visualized based on the activated marker. The method determines if a fully constraint-solved state is reached for the robot pose. If not, a feedback is output that indicates unsatisfied constraints and a computed approach of best reach defining a partially constraint-solved state. A gradient is computed based on the approach of best reach. At least one object in the environment is shifted in a direction defined by the computed gradient to solve the unsatisfied constraints.

The application relates to the technical field of compression resistance testing, and particularly relates to a stress compression resistance testing device of a robot modular fingertip structure and a testing method thereof, which comprises a cabinet body, a placing table arranged in the cabinet body and used for placing a robot hand, a horizontal moving seat movably arranged in the cabinet body and an assembly plate, the horizontal moving seat can be driven by a second linear driving module arranged in the cabinet body to move horizontally, the assembly plate can be driven by a pressure applying driving mechanism arranged in the cabinet body to move away from or close to the horizontal moving seat, so that a pressure applying piece arranged on the side of the assembly plate away from the horizontal moving seat is in contact with the robot finger; the first pressure applying plate and the second pressure applying plate are arranged to form a V-shaped structure, the robot finger can be directly pressed, and the stress condition of the robot finger when a local part of a gripped object enters the finger gap during the working process of the robot can be simulated, so that the diversification of the stress compression resistance mode of the robot during testing is realized.

The invention provides a model training method and device and related equipment, and relates to the technical field of robot walking, and the method comprises the steps: extracting at least one feature based on human motion data; obtaining a motion template set based on the at least one feature; inputting the simulation observation data into a first model to obtain robot motion data corresponding to the simulation observation data output by the first model; the simulation observation data is used for simulating the state of the robot; constructing a loss function based on the similarity between each motion template in the motion template set and the simulation observation data, and based on the frequency feature domain corresponding to the robot motion data and the frequency feature domain corresponding to each motion template; the frequency characteristic domain is used for representing a stride frequency, a harmonic structure and a phase propulsion condition corresponding to the motion; and training the first model through the loss function to obtain a second model.

The invention relates to the technical field of robot simulation and control, in particular to a bronchoscope robot simulation control platform and method based on VTK, and is suitable for structural modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots). The method can be widely applied to the fields of medical robot simulation, operation training, robot control algorithm verification and the like. Firstly, the platform adopts a voxelization modeling technology to carry out modeling on a bronchoscope robot, and forms and behaviors of different continuum robots can be simulated only by setting structural parameters and freedom of motion of the robot. The center line of the bronchial tree is rapidly extracted by using a vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate interaction between the robot and the bronchial tree. Meanwhile, the collision condition of the robot and the bronchial tree is calculated in real time through a collision detection interface built in the vtk, and real-time accurate feedback is conducted in the simulation process.

The application relates to the technical field of robot simulation, in particular to a robot ground verification platform and a robot vibration simulation method. The robot ground verification platform is used for verifying the vibration response of a space robot walking on a flexible structure and performing gait planning, and comprises a platform main body, a flexible structure beam, a fixed base, an electromagnet, an acceleration sensor, a simulated floating wheel and a robot. The flexible structure beam is arranged on the platform main body through the fixed base. The acceleration sensor and the electromagnet are arranged on the flexible structure beam. The robot moves on the platform main body through the simulated floating wheel. The robot vibration simulation method is that the robot moves on the flexible structure beam through the on-off state of the electromagnet, and the vibration of the flexible structure beam is detected through the acceleration sensor. The application can simulate the action of the robot in a space state, can monitor the vibration of the flexible structure beam in real time, so that the vibration parameters of the robot can be obtained, and the application of the experiment is facilitated.

Disclosed is a robotic system (104) and a method (600) having a control unit (202). The control unit is configured to generate a virtual environment having a virtual robot (402) based on a received set of first parameters to emulate a real environment. The control unit (202) is configured to actuate the virtual robot (402) to simulate an operation of a robot (108). At least the virtual robot (402) actuates independently, or the robot (108) and the virtual robot (402) actuate in synchrony based on the simulation. Further, at least the virtual robot (402) actuates independently, depending on the set of second parameters or the robot (108) and the virtual robot (402) actuates, depending on the set of second parameters. This configuration ensures multi modal operation of the robotic system (104), thus ensuring ease of operation of the robot (108).

The invention provides a robot simulation working unit which comprises a first robot, a first material placing mechanism, a second robot, a classification platform and a conveyor, the first robot is provided with a first camera, and the first robot identifies materials on the first material placing mechanism through the first camera; the first robot is provided with a first camera, the first robot can convey the recognized materials to the conveyor, the second robot is provided with a second camera, the second robot recognizes the materials on the conveyor through the second camera, and the second robot can place the recognized materials on the classification platform. According to the robot simulation working unit, when the first robot, the second robot and all the matched devices work together, it is equivalent to that an actual production line of a factory is simulated, so that the robot simulation working unit can simulate a real application scene of the robot in the factory, and therefore the problem point of the robot can be easily measured and optimized; and meanwhile, the teaching practical training of the robot function can be realized.

The present application relates to the field of robot simulation and control technology, in particular to a bronchoscope robot simulation control platform and method based on VTK, which is suitable for structure modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots), and can be widely applied to the fields of medical robot simulation, surgical training and robot control algorithm verification and the like. Firstly, the platform uses voxel modeling technology to model the bronchoscope robot, and only needs to set the robot structure parameters and motion degrees of freedom, so as to simulate the form and behavior of different continuum robots. The center line of the bronchial tree is quickly extracted using the vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate the interaction between the robot and the bronchial tree. At the same time, the built-in collision detection interface of vtk is used to calculate the collision between the robot and the bronchial tree in real time, and real-time and accurate feedback is carried out in the simulation process.

Disclosed is a robotic system (104) and a method (600) having a control unit (202). The control unit is configured to generate a virtual environment having a virtual robot (402) based on a received set of first parameters to emulate a real environment. The control unit (202) is configured to actuate the virtual robot (402) to simulate an operation of a robot (108). At least the virtual robot (402) actuates independently, or the robot (108) and the virtual robot (402) actuate in synchrony based on the simulation. Further, at least the virtual robot (402) actuates independently, depending on the set of second parameters or the robot (108) and the virtual robot (402) actuates, depending on the set of second parameters. This configuration ensures multi modal operation of the robotic system (104), thus ensuring ease of operation of the robot (108).

The present invention simultaneously performs actions of a robot by offline executing a robot program and generating an action path of the robot by automatic path generation.This offline simulation device includes: an offline program execution unit that executes a robot program in an offline simulation environment in which a robot, a plurality of workpieces stacked for removal by the robot, and a vision sensor for detecting the plurality of workpieces are arranged in a virtual space to perform a simulation of actions of the robot in removing the workpieces; and an automatic path generation execution unit that copies the offline simulation environment and generates an action path for the actions of the robot in a duplicated offline simulation environment that has been copied; and a setting unit that performs editing of the robot program and / or setting of parameters of the action path based on the simulated actions of the robot and the generated action path.

The invention discloses a programmable robot testing and debugging system, and relates to the technical field of robot testing, the programmable robot testing and debugging system comprises a bottom plate, a rotary clamping assembly, a rotary testing assembly, a monitoring assembly and a controller, a robot trolley for testing is placed on the rotary testing assembly, and the rotary testing assembly is used for simulating a road surface on which the robot trolley runs; the rotating clamping assembly is used for obtaining the angle of the driving direction of the robot trolley after the robot trolley turns, and the monitoring assembly is used for monitoring signal data of position information of the robot trolley on the rotating testing assembly. The robot trolley is subjected to turning, advancing and retreating simulation through the rotary clamping assembly and the rotary testing assembly, and data acquisition can be performed on set braking time, moving speed, turning precision and the like of the robot trolley and actual speed braking time, moving speed and turning precision through the monitoring assembly. Developers can conveniently and quickly adjust the performance of the robot trolley, and actually measured data are provided for the adjustment process.

Robot simulation device (1) for performing a simulation of an operating program for a robot in a robot system comprising the robot grasping a gripped object and a workpiece in a workspace, pressing a surface of the gripped object onto a surface of the workpiece in order to transfer a transfer material arranged on the surface of the gripped object onto the surface of the workpiece, wherein the robot simulation device comprises: a robot model arrangement unit configured to arrange a robot model (200) of the robot in a virtual space that represents the workspace in three dimensions; a gripping object model arrangement unit configured to arrange a gripping object model (210) such that the gripping object model (210) is gripped by the robot model (200) in the virtual space; a workpiece model arrangement unit configured to arrange a workpiece model (220) of the workpiece at a position in virtual space that reaches the gripping object model (210) grasped by the robot model (200); an image generation unit (103) configured to generate an image of the robot system operating according to the operating program in the robot simulation device (1); a display unit (102) configured to display the image of the robot system generated by the image generation unit (103); a first transfer material image display unit (104) configured to display a transfer material image of the transfer material on a surface of the gripping object model (210); and a second transfer material image display unit (105) configured to display the transfer material image on the surface of the workpiece model (220) when the surface of the gripping object model (210) comes into contact with a surface of the workpiece model (220) in such a way that the transfer material image is in a relationship in which it is inverted relative to the transfer material image displayed on the surface of the gripping object model (210).

The invention relates to a simulation method for simulating the machining of a workpiece using a tool guided by a robot, comprising the following steps (S1-S3): a) Specification of a lattice model of the workpiece (S1) from numerous geometric elements, b) Specification of a robot path with numerous path points (S2), c) Specification of an operating mode of the tool at the individual path points of the robot path (S3), the following steps (S5-S11) are performed for each point along the robot's path: d) Determination of a control volume and / or an area of ​​effect, wherein the control volume is the volume within which the tool at the respective point on the robot path could theoretically possibly have an effect on the workpiece, irrespective of the tool's operating mode (S5), while the area of ​​effect is the volume within which the tool at the respective point on the robot path actually has an effect on the workpiece under the given operating mode of the tool, wherein the area of ​​effect preferably excludes such geometric elements which, although located within the control volume, are obscured from the tool's perspective by other geometric elements (S6). e) Determination of those geometric elements of the lattice model that lie within the control volume / area of ​​action of the tool (S7), f) Generation of a simplified lattice model from the geometric elements of the lattice model that lie within the control volume / area of ​​action of the tool, and g) Simulation of the machining of the workpiece by the tool based on the simplified lattice model (S11).

This invention provides a robot simulation device that can easily generate robot motion paths that do not interfere with surrounding objects, even under various conditions. The robot simulation device simulates robot movements in virtual space and includes a setting unit, a determining unit, an insertion unit, and a generating unit. The setting unit sets points of interest at multiple locations within the robot. The determining unit uses a first point of interest from the set points of interest as a first reference position and determines a first movement position that moves the robot a predetermined distance. When the robot moves along the determined first movement position without interfering with surrounding objects, the insertion unit inserts a first intermediate point at a position between the first reference position and the first movement position. The generating unit uses the first intermediate point as a second reference position and repeatedly inserts intermediate points, thereby generating a robot motion path that does not interfere with surrounding objects.

Embodiments of the present application disclose a robot assembly training method, a robot assembly control method and a computer readable storage medium. The training method comprises: constructing an initial agent, generating a preset number of joint state combinations based on the initial agent; in a simulation environment, controlling a simulated robot to perform an assembly action according to the joint state combinations; determining a reward mode, scoring the performed assembly action based on the reward mode to obtain a reward score; and training the initial agent using the reward score. The control method comprises: obtaining a trained agent; inputting environment data of a current time into the agent to adjust the agent, and obtaining an implemented agent; and inputting a task instruction into the implemented agent, and performing an assembly action according to a strategy output by the implemented agent. Therefore, the present application can effectively improve the adaptability of the assembly robot and accurately complete the assembly action in more application scenarios.

This utility model discloses a team-based collaborative combat simulation robot, belonging to the field of robotics technology, including a perception system, a decision-making system, a motion system, a weapon system, and a communication system. The perception system acquires information about the robot's surrounding environment and its own state. The decision-making system formulates execution plans based on the environmental and state information, including action and confrontation decisions. The motion system executes actions based on action decisions. The weapon system performs confrontation tasks based on confrontation decisions. The communication system enables information exchange. This utility model achieves this by: accurately capturing information through the perception system to provide a basis for decision-making; efficiently generating plans through the decision-making system; flexibly executing actions through the motion system; accurately completing confrontation tasks through the weapon system; and ensuring information exchange through the communication system. The coordinated operation of these systems enables the robot to perform tasks effectively in complex scenarios, improving overall combat effectiveness and adaptability.