Robot control apparatus and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorGi Yong Park
Life of this patent
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Abstract
A robot control apparatus can include a memory storing computer-executable instructions and at least one processor that accesses the memory and executes the instructions. The at least one processor can obtain a standard behavior tree satisfying a target format, from a behavior tree, based on a behavior tree abstraction model applied to interpretation of the behavior tree, store a robot scenario paired with the standard behavior tree in the memory, and verify validation of the standard behavior tree, based on nodes included in the standard behavior tree and an edge between the nodes included in the standard behavior tree.
Claims20
A robot control apparatus, comprising:
- at least one processor;
- and
- a storage medium storing computer-readable instructions that, when executed by the at least one processor, cause the at least one processor to:
- obtain a standard behavior tree satisfying a target format, from an inputted behavior tree, based on a behavior tree abstraction model applied to interpretation of the inputted behavior tree;
- store a robot scenario paired with the standard behavior tree in the storage medium;
- verify validation of the standard behavior tree, based on nodes included in the standard behavior tree and an edge between the nodes included in the standard behavior tree;
- obtain an outputted behavior tree from the standard behavior tree, based on the behavior tree abstraction model;
- and
- control a robot based on the outputted behavior tree, wherein the instructions that cause the at least one processor to control the robot based on the outputted behavior tree further comprise instructions that cause the at least one processor to apply the outputted behavior tree to the robot to cause the robot to perform the robot scenario based on the validation of the standard behavior tree being verified.
A robot control method, comprising:
- applying a behavior tree abstraction model to perform interpretation of an inputted behavior tree;
- obtaining a standard behavior tree satisfying a target format, from the inputted behavior tree, based on the behavior tree abstraction model applied to perform interpretation of the inputted behavior tree;
- storing a robot scenario paired with the standard behavior tree;
- verifying validation of the standard behavior tree, based on nodes included in the standard behavior tree and an edge between the nodes included in the standard behavior tree;
- obtaining an outputted behavior tree from the standard behavior tree, based on the behavior tree abstraction model;
- and
- controlling a robot based on the outputted behavior tree, wherein controlling the robot based on the outputted behavior tree comprises applying the outputted behavior tree to the robot to cause the robot to perform the robot scenario based on the validation of the standard behavior tree being verified.
A robot control method, comprising:
- applying a behavior tree abstraction model to interpret an inputted behavior tree;
- obtaining a standard behavior tree satisfying a target format, from the inputted behavior tree, based on the applying of the behavior tree abstraction model applied to interpret the inputted behavior tree;
- verifying validation of the standard behavior tree, based on nodes included in the standard behavior tree and an edge between the nodes included in the standard behavior tree;
- displaying the nodes included in the standard behavior tree and the edge between the nodes included in the standard behavior tree as representative icons on a user interface;
- enabling a user to edit the standard behavior tree via the user interface using the representative icons;
- and
- changing and storing the standard behavior tree, based on receiving at least one input from the user via the user interface, wherein the at least one input includes a first user revision to a first icon of the representative icons about the node, a second user revision to a second icon of the representative icons about the edge, or any combination thereof.
Dependencies are inferred from the claim text.