Vorrichtung und Verfahren zur Steuerung eines Roboters

Details

Veröffentlichungs-Nr.

EP3904973

Aktenzeichen

EP20172448

Anmeldetag

30. April 2020

Veröffentlichung

25. Juni 2025

Erteilung

25. Juni 2025

Rechtsraum

EP

IPC

G05B13/02G06N3/00G05D1/00G06N3/08G06N3/045

Abstract

According to various embodiments, a method for controlling a robot is described comprising receiving an indication of a target configuration to be reached from an initial configuration of the robot, determining a coarse-scale value map by value iteration, wherein the transition probabilities are determined using a transition probability model mapping coarse-scale states and coarse-scale actions to transition probabilities for coarse-scale states and for each coarse-scale state of a sequence of coarse-scale states of the robot, starting from an initial coarse-scale state determined from the initial configuration of the robot and until the robot reaches the target configuration or a maximum number of fine-scale states has been reached, determining a fine-scale sub-goal from the coarse-scale value map, performing, by an actuator of the robot, fine-scale control actions to reach the determined fine-scale sub-goal and obtaining sensor data to determine the fine-scale states reached as a result of performing the fine-scale control actions for each fine-scale state of the resulting sequence of fine-scale states of the robot, starting from a current fine-scale state of the robot and until the robot reaches the determined fine-scale sub-goal, the robot transitions to a different coarse-scale state, or a maximum sequence length of the sequence of fine-scale states has been reached and determining the next coarse-scale state of the sequence of coarse-scale states from the last fine-scale state of the sequence of fine-scale states.

Anmelder

Firma

Robert Bosch GmbH

Land

🇩🇪 Deutschland

Fachgebiete