US 11,911,912 B2
Robot control apparatus and method for learning task skill of the robot
Sohee Lee, Suwon-si (KR); Junhong Min, Suwon-si (KR); Kyungshik Roh, Suwon-si (KR); Sukjune Yoon, Suwon-si (KR); and Minyong Choi, Suwon-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Appl. No. 17/309,673
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
PCT Filed Dec. 12, 2019, PCT No. PCT/KR2019/017588
§ 371(c)(1), (2) Date Jun. 14, 2021,
PCT Pub. No. WO2020/122632, PCT Pub. Date Jun. 18, 2020.
Claims priority of application No. 10-2018-0162456 (KR), filed on Dec. 14, 2018.
Prior Publication US 2022/0024037 A1, Jan. 27, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 19/02 (2006.01); B25J 9/16 (2006.01); G05B 13/02 (2006.01); G06N 20/00 (2019.01); G06T 19/00 (2011.01); G06T 7/70 (2017.01); G06V 10/22 (2022.01); G06V 20/20 (2022.01)
CPC B25J 9/1671 (2013.01) [B25J 9/1697 (2013.01); B25J 13/08 (2013.01); G05B 13/0265 (2013.01); G06T 19/006 (2013.01); G06V 20/20 (2022.01); G05B 2219/32014 (2013.01); G05B 2219/39001 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robotic device comprising:
a camera;
a robot arm; and
a control device electrically connected to the camera and the robot arm, wherein the control device is configured to:
collect control records of the robot arm for a random motion;
acquire, from the camera, a camera image in which a task space of the robot arm is photographed;
implement an augmented reality model by rendering a virtual object corresponding to an object related to a target task in the camera image; and
perform image-based policy learning based on the augmented reality model and the control records, and update a control policy for the target task.