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1. 发明授权

US08843236B2 Method and system for training a robot using human-assisted task demonstration 有权
标题翻译：使用人为辅助任务演示训练机器人的方法和系统
公开(公告)号：US08843236B2
公开(公告)日：2014-09-23
申请号：US13420677
申请日：2012-03-15
申请人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
发明人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
IPC分类号： B25J13/08
CPC分类号： B25J9/1664 , G05B2219/40512
摘要： A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.
摘要翻译：用于训练机器人以在工作环境中执行机器人任务的方法包括：通过所述任务的多个状态和描述机器人行为序列的记录电机模式来移动所述机器人在其配置空间。在移动机器人时记录描述机器人的性能和状态值的感官数据。该方法包括检测位于环境中的对象的感知特征，将虚拟指示标记分配给所检测到的感知特征，以及使用所分配的标记和所记录的运动模式来随后在另一机器人任务的自动执行中控制机器人。标记可以组合以产生广义标记。系统包括机器人，用于检测性能和状态值的传感器阵列，用于在环境中成像对象的感知传感器，以及执行本方法的电子控制单元。

2. 发明申请

US20060015222A1 Arranging mobile sensors into a predetermined pattern 有权
标题翻译：将移动传感器布置成预定模式
公开(公告)号：US20060015222A1
公开(公告)日：2006-01-19
申请号：US10890568
申请日：2004-07-12
申请人： David Payton , Eric Martinson
发明人： David Payton , Eric Martinson
IPC分类号： G01C21/30
CPC分类号： H01Q1/32 , G05D1/0291 , G05D2201/0207
摘要： Moving a target mobile node to arrange a number of mobile nodes includes determining a first direction. A first relative position for each of the neighboring mobile nodes of the target mobile node is established. The target mobile node moves according to a first alignment procedure to align the mobile nodes in the first direction. A second direction substantially orthogonal to the first direction is determined. A second relative position for each of the neighboring mobile nodes is established. The target mobile node moves according to a second alignment procedure to align the mobile nodes in the second direction.
摘要翻译：移动目标移动节点以排列多个移动节点包括确定第一方向。建立目标移动节点的每个相邻移动节点的第一相对位置。目标移动节点根据第一对准过程移动以使移动节点沿第一方向对齐。确定基本上与第一方向正交的第二方向。建立每个相邻移动节点的第二个相对位置。目标移动节点根据第二对准过程移动以使移动节点沿第二方向对齐。

3. 发明申请

US20130245824A1 METHOD AND SYSTEM FOR TRAINING A ROBOT USING HUMAN-ASSISTED TASK DEMONSTRATION 有权
标题翻译：使用人为辅助任务演示来训练机器人的方法和系统
公开(公告)号：US20130245824A1
公开(公告)日：2013-09-19
申请号：US13420677
申请日：2012-03-15
申请人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
发明人： Leandro G. Barajas , Eric Martinson , David W. Payton , Ryan M. Uhlenbrock
IPC分类号： B25J13/08
CPC分类号： B25J9/1664 , G05B2219/40512
摘要： A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.
摘要翻译：用于训练机器人以在工作环境中执行机器人任务的方法包括：通过所述任务的多个状态和描述机器人行为序列的记录电机模式来移动所述机器人在其配置空间。在移动机器人时记录描述机器人的性能和状态值的感官数据。该方法包括检测位于环境中的对象的感知特征，将虚拟指示标记分配给所检测到的感知特征，以及使用所分配的标记和所记录的运动模式来随后在另一机器人任务的自动执行中控制机器人。标记可以组合以产生广义标记。系统包括机器人，用于检测性能和状态值的传感器阵列，用于在环境中成像对象的感知传感器，以及执行本方法的电子控制单元。

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