54 results about "Analog robot" patented technology

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.

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 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 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 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.

A computing device (1) for simulating a robot system comprises at least one processor (4) and at least one memory (3). The memory (3) stores a mathematical model in which a robot and / or a tool and / or a workpiece is defined as an elastic element. The processor (4) acquires input information, including the orientation of the robot, the placement of the tool and the workpiece, and the magnitude and direction of the force and / or torque of the tool or workpiece, and estimates a load or deformation amount for the robot and / or the tool and / or the workpiece using the acquired input information and the mathematical model stored in the memory.

The present invention relates to a method for setting collision information for simulating robot motion and an apparatus for performing the same, the method including the steps of: obtaining robot installation information about an operation space of a robot, dangerous region information, and body part information in which a collision can occur in each dangerous region; setting a check point for judging a collision danger with respect to the robot; and calculating coordinate information and shape information of the check point based on at least a part of the obtained information and the set check point.

Provided is a robot software maintenance device for checking whether or not a software update for a robot control device connected via a network is appropriate, the software maintenance device comprising: a correction patch storage unit that stores a correction patch for updating software of the robot control device; a test case storage unit that stores a test case for determining success or failure of a software update; a configuration data acquisition unit that acquires, from the robot control device, configuration data for specifying a configuration of the robot control device; a virtual control device generation unit that generates, on the basis of the configuration data, a virtual control device that virtually imitates behavior of the robot control device; and an update determination unit that applies the correction patch to the virtual control device and determines success or failure of the software update according to the test case.

The invention discloses a single-foot jumping robot motion control method based on coupling flow model driving, and the method comprises the steps: outputting a decision action through an intelligent agent strategy model, and carrying out the online interaction with a single-foot jumping robot, and collecting a real environment sample; an environment dynamic model is constructed through a probabilistic neural network, and the model is trained in a supervised learning mode to simulate the motion state of the robot; building a coupling flow model by utilizing a multi-layer coupling structure, converting the output distribution difference into a reward signal, and realizing dynamic optimization of an environment model by reconstructing a Markov decision process and combining with a reinforcement learning algorithm; and finally, interacting the intelligent agent strategy with the calibrated environment model to generate a high-precision simulation sample, and combining with a real sample to complete strategy iteration updating. According to the method, accumulated rewards equivalent to model-free reinforcement learning can be achieved only through a small amount of environment interaction, and the learning efficiency and the model generalization ability of a single-foot jumping robot strategy are remarkably improved.

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 discloses a method and device for virtually debugging a simulation robot controller, and relates to the technical field of virtual debugging, and the method comprises the steps: generating a simulation control program based on an automatic production line design scheme; extracting signal information according to the simulation control program, building an electrical behavior model according to the signal information, and matching and connecting electrical signals to generate a robot program; and importing the robot program into the target simulation software so as to verify the robot program in the preset virtual environment, and after the verification is passed, establishing connection between the robot controller and the virtual scene so as to simulate a real motion state and generate an optimal flow process. Therefore, according to the method, the robot program is debugged and verified in the virtual environment to generate the optimal flow process, and the technical effects of reducing the debugging cost, improving the debugging efficiency and shortening the debugging period can be achieved.

This application proposes a method, apparatus, electronic equipment, and program product for constructing and integrating test models for legged robots. First, a data acquisition terminal and a scene modeling configuration module generate a scene model file to build a standardized test scene. A sensor modeling configuration module then generates a sensor simulation model file coupled with the environment based on this file, simulating the robot's perception function. A dynamics modeling configuration module combines the robot's basic information with scene characteristics to generate a validated dynamics model file, simulating the robot's motion function. An integrated testing module loads the three types of models to complete collaborative simulation testing, achieving collaborative verification of perception and motion functions. Finally, the test process configuration is updated to achieve standardized construction and integrated testing of the test model. By relying on standardized models to optimize the testing process, the standardization and adaptability of legged robot simulation testing are improved, providing reliable support for its testing.