US 11,738,454 B2
Method and device for operating a robot
Sabrina Hoppe, Tiefenbronn (DE); Markus Giftthaler, Freising (DE); and Robert Krug, Neu-Ulm (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on May 19, 2021, as Appl. No. 17/325,181.
Claims priority of application No. 102020206913.1 (DE), filed on Jun. 3, 2020.
Prior Publication US 2021/0379759 A1, Dec. 9, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 15/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 15/08 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for operating a robot, comprising the following steps:
determining, as a function of a first state of the robot and/or surroundings of the robot, and as a function of an output of a first model, a first part of a manipulated variable for activating the robot for a transition from the first state into a second state of the robot;
determining a second part of the manipulated variable as a function of the first state and regardless of the first model;
determining a quality measure as a function of the first state and as a function of the output of the first model using a second model;
determining at least one parameter of the first model as a function of the quality measure;
determining at least one parameter of the second model as a function of the quality measure and a setpoint value, the setpoint value being determined as a function of a reward, which is associated with the transition from the first state into the second state.