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US 11,312,012 B2Granted
Software compensated robotics
AssigneeGiant Ai, Inc.
InventorAdrian Kaehler
Life of this patent
Estimating the term…
Abstract
A software compensated robotic system makes use of recurrent neural networks and image processing to control operation and/or movement of an end effector. Images are used to compensate for variations in the response of the robotic system to command signals. This compensation allows for the use of components having lower reproducibility, precision and/or accuracy that would otherwise be practical.
Claims26
A robotic system comprising:
- a movement generation device;
- a tendon coupled to the movement generation device and to a robotic manipulator, the tendon being configured to move the robotic manipulator in response to the movement generation device;
- an end effector attached to the robotic manipulator, a pose of the end effector being dependent on movement of the robotic manipulator;
- a camera configured to generate an image of the end effector;
- a multi-stage neural network including:
- a first perception block configured to receive the image and generate an image processing output representative of a state of an object within the image,
- a policy block configured to generate command signals for movement of the end effector, the generated command signals being based on at least i) a goal for the end effector, ii) the image processing output and optionally iii) a time dependent internal state of the policy block, and
- a compensation block configured to provide an output for control of the movement generation device based both the command signals and the image processing output;
- and
- control logic configured to provide the goal for the end effector to the policy block, or to select the policy block based on the goal for the end effector.
7 more elements
A robotic system comprising:
- an end effector;
- a movement generation device;
- a movement component coupled to the movement generation device and configured to move the end effector in response to the movement generation device;
- a camera configured to generate an image of the end effector;
- a neural network configured to provide movement command signals to the movement generation device, the movement commands being configured to reach a goal in the movement of the end effector, the movement commands being compensated for variations in the movement component based on the image and recurrent nodes of the neural network.
2 more elements
Dependencies are inferred from the claim text.