Robot Trajectory Control With Primitive Action Sequencing
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Solution Overview
Problem
Existing robotic control methods are inefficient in implementing sequence plans that include both primitive actions and movement skills, as they often require manual adaptation and do not seamlessly integrate learned robot trajectory models with primitive actions, leading to potential errors in task execution.
Innovation Solution
A method is provided for controlling robotic devices by training robot trajectory models from demonstrations, generating a composite robot trajectory model by cascading and combining movement skills, and incorporating primitive actions based on end states, allowing for efficient execution of complex tasks without manual definition of branching conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robot trajectory models are trained separately for each movement skill, then the robot can adapt to different control situations, but the implementation of sequence plans becomes inefficient and complex
Solution Approach 1:
The patent combines multiple separately trained robot trajectory models into a single composite robot trajectory model that can handle entire sequence plans. This merging approach maintains the adaptability of individual movement skill models while improving the efficiency of executing complex sequences by eliminating the need for manual coordination and reducing computational overhead.
Solution Approach 2:
The composite robot trajectory model serves multiple functions: it can execute individual movement skills, handle sequences of movement skills, and automatically manage primitive actions. This universal model replaces the need for separate control mechanisms for different task components, simplifying the overall control architecture while maintaining versatility.
2Ease of operation
If manual adaptation is used for sequence plans including primitive actions and movement skills, then control flexibility is maintained, but errors in task execution occur and efficiency is reduced
Solution Approach 1:
The composite robot trajectory model automatically manages the execution of sequence plans, including the coordination of movement skills and primitive actions, without requiring manual intervention. The model self-adjusts to handle the integration of different action types, eliminating human errors while maintaining the flexibility needed for complex task execution.
3Ease of manufacture
If separate control is used for movement skills and primitive actions, then each action type can be optimized independently, but the integration becomes complex and timing errors occur
Solution Approach 1:
The patent merges the control of movement skills and primitive actions into a unified composite robot trajectory model. This integration maintains the independent optimization capabilities of individual action types while eliminating the complexity of coordinating separate control systems, ensuring proper timing and sequencing automatically.
Data Source
AI summary
A method for controlling a robotic device, in which a composite robot trajectory model made up of robot trajectory models of the movement skills is generated for a sequence plan for a task to be carried out by the robot including a sequence of movement skills and primitive actions to be carried out, and the robot is controlled, if after one movement skill according to the sequence plan one or multiple primitive action(s) is/are to be executed before the next movement skill, by interrupting the control of the robot according to the composite robot trajectory model after carrying out the movement skill, and by executing the one or multiple primitive action(s) and then resuming the control of the robot according to the composite robot trajectory model.