公开(公告)号：US08725294B2

公开(公告)日：2014-05-13

申请号：US11765976

申请日：2007-06-20

Applicant: Michael Gienger

Inventor： Michael Gienger

IPC: G05B15/00

CPC classification number: B25J9/1664

Abstract: A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom. The method includes (a) providing a target to a selector unit that requires operation of actuators of the mechanical system; (b) generating by a selector unit more than one behavior commands adapted to reach the target; (c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system; (d) assessing fitness values for each simulated movements based on at least one objective; and (e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system.

Abstract translation: 一种用于控制具有多于一个自由度的智能机械系统的行为的方法。 该方法包括（a）将目标提供给需要机械系统的致动器的操作的选择器单元; （b）由选择器单元产生多于一个适于达到目标的行为命令; （c）通过机械系统的计算单元模拟每个行为命令的机械系统的运动; （d）基于至少一个目标来评估每个模拟运动的适应值; 和（e）将具有最高适应度值的行为命令发送到机械系统的致动器。

公开(公告)号：US20100222924A1

公开(公告)日：2010-09-02

申请号：US12709814

申请日：2010-02-22

Applicant: Michael GIENGER ,  Manuel MUEHLIG ,  Jochen STEIL

Inventor： Michael GIENGER ,  Manuel MUEHLIG ,  Jochen STEIL

IPC: G06F15/18 ,  B25J9/00 ,  G06F19/00

CPC classification number: G05B19/42 ,  G05B2219/36442

Abstract: The invention proposes a method for imitation-learning of movements of a robot, wherein the robot performs the following steps: observing a movement of an entity in the robot's environment, recording the observed movement using a sensorial data stream and representing the recorded movement in a different task space representations, selecting a subset of the task space representations for the imitation learning and reproduction of the movement to be imitated.

Abstract translation: 本发明提出了一种用于模仿学习机器人的运动的方法，其中机器人执行以下步骤：观察机器人环境中的实体的移动，使用感官数据流记录观察到的移动并将记录的运动表示在 不同的任务空间表示，选择任务空间表示的子集，用于仿制运动的仿制学习和再现。

公开(公告)号：US20080234864A1

公开(公告)日：2008-09-25

申请号：US12052483

申请日：2008-03-20

Applicant: Hisashi Sugiura ,  Herbert Janssen ,  Michael Gienger

Inventor： Hisashi Sugiura ,  Herbert Janssen ,  Michael Gienger

IPC: G06F17/00

CPC classification number: B25J9/1666 ,  G05B2219/39082 ,  G05B2219/39088 ,  G05B2219/39096 ,  G05B2219/40477 ,  G05B2219/40492

Abstract: A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points.

Abstract translation: 机器人设置有运动控制单元，其避免机器人的段之间或机器人的其他物体的段之间的碰撞。 机器人的运动控制单元包括距离计算模块，全身控制模块，防撞模块和混合控制单元。 距离计算模块通过机器人和另一物体的至少一个关节或段来计算机器人彼此连接的不同段的两个最近点。 防撞模块提供有关两个最近点的信息。 混合控制单元组合了全身控制模块和防撞控制模块的加权输出控制信号。 当碰撞风险较低时，全身控制输出信号的重量较高。 碰撞风险较高时，防撞控制输出信号的重量较大。 防撞模块设计成仅在平行于两个最接近的点之间的线路的方向上控制防撞作用。

公开(公告)号：US20060293790A1

公开(公告)日：2006-12-28

申请号：US11439356

申请日：2006-05-22

Applicant: Michael Gienger

Inventor： Michael Gienger

IPC: G06F19/00

CPC classification number: B25J9/1643

Abstract: The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.

公开(公告)号：US20080009957A1

公开(公告)日：2008-01-10

申请号：US11765976

申请日：2007-06-20

Applicant: Michael Gienger

Inventor： Michael Gienger

IPC: G05B13/02

CPC classification number: B25J9/1664

Abstract: A method for controlling behavior of an intelligent mechanical system having more than one degree of freedom, the method comprising: (a) providing a target to a selector unit that requires operation of actuators of the mechanical system; (b) generating by a selector unit more than one behavior commands adapted to reach the target; (c) simulating movements of the mechanical system for each behavior command by a computing unit of the mechanical system; (d) assessing fitness values for each simulated movements based on at least one objective; and (e) sending the behavior commands with a highest fitness value to the actuators of the mechanical system.

Abstract translation: 一种用于控制具有多于一个自由度的智能机械系统的行为的方法，所述方法包括：（a）向需要所述机械系统的致动器的操作的选择器单元提供目标; （b）由选择器单元产生多于一个适于达到目标的行为命令; （c）通过机械系统的计算单元模拟每个行为命令的机械系统的运动; （d）基于至少一个目标来评估每个模拟运动的适应值; 和（e）将具有最高适应度值的行为命令发送到机械系统的致动器。

公开(公告)号：US08571714B2

公开(公告)日：2013-10-29

申请号：US12709814

申请日：2010-02-22

Applicant: Michael Gienger ,  Manuel Muehlig ,  Jochen Steil

Inventor： Michael Gienger ,  Manuel Muehlig ,  Jochen Steil

IPC: B25J13/08 ,  B25J19/04

CPC classification number: G05B19/42 ,  G05B2219/36442

Abstract: The invention proposes a method for imitation-learning of movements of a robot, wherein the robot performs the following steps: observing a movement of an entity in the robot's environment, recording the observed movement using a sensorial data stream and representing the recorded movement in a different task space representations, selecting a subset of the task space representations for the imitation learning and reproduction of the movement to be imitated.

Abstract translation: 本发明提出了一种用于模仿学习机器人的运动的方法，其中机器人执行以下步骤：观察机器人环境中的实体的移动，使用感官数据流记录观察到的移动并将记录的运动表示在 不同的任务空间表示，选择任务空间表示的子集，用于仿制运动的仿制学习和再现。

公开(公告)号：US20090018696A1

公开(公告)日：2009-01-15

申请号：US12168667

申请日：2008-07-07

Applicant: Christian Goerick ,  Bram Bolder ,  Herbert Janssen ,  Stephan Kirstein ,  Heiko Wersing ,  Michael Gienger ,  Hisashi Sugiura ,  Inna Mikhailova ,  Tobias Rodemann

Inventor： Christian Goerick ,  Bram Bolder ,  Herbert Janssen ,  Stephan Kirstein ,  Heiko Wersing ,  Michael Gienger ,  Hisashi Sugiura ,  Inna Mikhailova ,  Tobias Rodemann

IPC: G05B19/04

CPC classification number: B25J9/161

Abstract: A robot controller including a multitude of simultaneously functioning robot controller units. Each robot controller unit is adapted to receive an input signal, receive top-down information, execute an internal process or dynamics, store at least one representation, send top-down information, issue motor commands wherein each motor command has a priority. The robot controller selects one or several motor commands issued by one or several units based on their priority. Each robot controller unit may read representations stored in other robot controller units.

Abstract translation: 一种机器人控制器，包括许多同时运作的机器人控制器单元。 每个机器人控制器单元适于接收输入信号，接收自顶向下信息，执行内部过程或动态，存储至少一个表示，发送自上而下的信息，发出电动机命令，其中每个电动机命令具有优先权。 机器人控制器根据其优先级选择一个或多个单元发出的一个或多个电动机命令。 每个机器人控制器单元可以读取存储在其他机器人控制器单元中的表示。

公开(公告)号：US20080243307A1

公开(公告)日：2008-10-02

申请号：US12050948

申请日：2008-03-19

Applicant: Marc Toussaint ,  Michael Gienger

Inventor： Marc Toussaint ,  Michael Gienger

IPC: G05B19/04

CPC classification number: B25J9/1664

Abstract: A method for controlling a system or robot having at least one effector. An initial sequence of control points is computed. The system or the robot is evaluated by a global cost function that uses internal simulation based on the control points. The sequence of control points are updated based on the evaluation. The evaluation of the system or the robot and the updating of the sequence of control points are repeated until a given termination criterion is met.

Abstract translation: 一种用于控制具有至少一个效应器的系统或机器人的方法。 计算控制点的初始序列。 系统或机器人通过使用基于控制点的内部模拟的全局成本函数进行评估。 基于评估更新控制点的顺序。 重复系统或机器人的评估和控制点序列的更新，直到满足给定的终止标准。

公开(公告)号：US08509951B2

公开(公告)日：2013-08-13

申请号：US11439356

申请日：2006-05-22

Applicant: Michael Gienger

Inventor： Michael Gienger

IPC: B25J9/10 ,  B25J9/16 ,  B25J9/04 ,  B25J9/06

CPC classification number: B25J9/1643

Abstract: The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.

Abstract translation: 本发明涉及一种用于控制从当前状态到目标状态的效应器轨迹的方法。 确定轨迹的第一个不变控制参数。 然后在任务描述中表示效应轨迹，而不影响不变控制参数。 在此任务描述的基础上控制效应轨迹。 本发明还涉及一种用于控制效应轨迹的方法，其中通过从配置空间上的控制参数空间映射增量来计算效应轨迹。 配置空间与控制参数空间之间的尺寸差异留下了零空间的冗余自由度。 使用没有不变控制参数的任务描述来增加空空间的自由度。 本发明还涉及相应的计算机软件程序产品，操纵器，致动的相机系统，包括一个或多个操纵器的机器人和配备有驾驶员支撑系统的汽车。

公开(公告)号：US08311731B2

公开(公告)日：2012-11-13

申请号：US12052483

申请日：2008-03-20

Applicant: Hisashi Sugiura ,  Herbert Janssen ,  Michael Gienger

Inventor： Hisashi Sugiura ,  Herbert Janssen ,  Michael Gienger

IPC: G06F19/00 ,  G06T15/00

CPC classification number: B25J9/1666 ,  G05B2219/39082 ,  G05B2219/39088 ,  G05B2219/39096 ,  G05B2219/40477 ,  G05B2219/40492

Abstract: A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points.

Abstract translation: 机器人设置有运动控制单元，其避免机器人的段之间或机器人的其他物体的段之间的碰撞。 机器人的运动控制单元包括距离计算模块，全身控制模块，防撞模块和混合控制单元。 距离计算模块通过机器人和另一物体的至少一个关节或段来计算机器人彼此连接的不同段的两个最近点。 防撞模块提供有关两个最近点的信息。 混合控制单元组合了全身控制模块和防撞控制模块的加权输出控制信号。 当碰撞风险较低时，全身控制输出信号的重量较高。 碰撞风险较高时，防撞控制输出信号的重量较大。 防撞模块设计成仅在平行于两个最接近的点之间的线路的方向上控制防撞作用。