Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries

摘要

#$%^&*AU2020226988A120200917.pdf#####Abstract Embodiments of the present disclosure are directed to the technical features relating to the ability of being able to create complex robotic humanoid movements, actions, and interactions with tools 5 and the instrumented environment by automatically building movements for the humanoid; actions and behaviors of the humanoid based on a set of computer- encoded robotic movement and action primitives. The primitives are defined by motions/actions of articulated degrees of freedom that range in complexity from simple to complex, and which can be combined in any form in serial/parallel fashion. These motion-primitives are termed to be minimanipulations and 0 each has a clear time-indexed command input-structure and output behavior/performance profile that is intended to achieve a certain function. Minimanipulations comprise a new way of creating a general programmable-by-example platform for humanoid robots. One or more minimanipulation electronic libraries provide a large suite of higher-level sensing-and-execution sequences that are common building blocks for complex tasks, such as cooking, taking care of the infirm, or other 5 tasks performed by the next generation of humanoid robots.WO 2016/034269 PCT/EP2015/001704 1/366 .2_ oE0 00 44I (U 30 m oA I 0 I 0 C0 4 4- Q ( I01 0 EEt" 0 0 c ( 0 a) 0)( E 4-1 -' ( i'~a.2 .2 /0. _I-y a to a)E 0 : y A I 0 0 0 I E * 0A ~~0 C a) 0 00 4-' 0. 0I 1 C c0 (U (A Ci a) -- =) (A I C tj . .C C 'CU '- 0 '-' bD(A O~I- '44-' C0 (A ( m CL a)' LJ.0 0 ~ :4i- a) '- U 0 0 EA ) EA 0 0 C 0 .0l 00 I------------------------------------------------------------------