US 12,384,039 B2
Learning to acquire and adapt contact-rich manipulation skills with motion primitives
Wenzhao Lian, Fremont, CA (US); Stefan Schaal, Mountain View, CA (US); and Zheng Wu, Albany, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by Intrinsic Innovation LLC, Mountain View, CA (US)
Filed on Jun. 21, 2022, as Appl. No. 17/845,698.
Claims priority of provisional application 63/212,481, filed on Jun. 18, 2021.
Prior Publication US 2022/0402140 A1, Dec. 22, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1687 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1664 (2013.01); G05B 2219/39001 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle;
performing a parameter optimization process for the robot to perform the insertion task including:
defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory, and
repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters;
adding the final set of parameters to a task library;
receiving a new insertion task;
selecting the final set of parameters based on the new insertion task; and
adapting the new insertion task using the final set of parameters.