Robot motion planning device, robotic system, and method

A robotic system comprising:

• a robot;
• and
• a robot motion planning device comprising:
• a memory;
• and
• processing circuitry configured to:
• receive observation information obtained by observing at least part of a movable range of a robot;
• determine, in a case where first observation information is received, a first target position to which the robot is to make a motion, using an action-value function and the first observation information, the action-value function being a function of observation information and a position and being indicative of a value of a motion to be made by the robot;
• receive measurement information obtained by measuring a state of the robot;
• calculate a first difference corresponding to the first observation information, using the measurement information;
• and
• determine a motion plan of a force-controlled motion of the robot, based on the first target position and the first difference,
• wherein the processing circuitry is configured to make a distance between a start point and an end point of the force-controlled motion longer as the first difference is greater.

A method comprising:

• receiving observation information obtained by observing at least part of a movable range of a robot;
• in a case where first observation information is received, determining a first target position to which the robot is to make a motion, using an action-value function and the first observation information, the action-value function being a function of observation information and a position and being indicative of a value of a motion to be made by the robot;
• receiving measurement information obtained by measuring a state of the robot;
• calculating a first difference corresponding to the first observation information, using the measurement information;
• and
• determining a motion plan of a force-controlled motion of the robot, based on the first target position and the first difference,
• wherein the determining the motion plan comprises making a distance between a start point and an end point of the force-controlled motion longer as the first difference is greater.