US 12,109,682 B2
Assistance for robot manipulation
Masayuki Fujita, Tokyo (JP); Takeshi Hatanaka, Tokyo (JP); Junya Yamauchi, Tokyo (JP); Kosei Noda, Tokyo (JP); Keita Shimamoto, Fukuoka (JP); Koji Sokabe, Fukuoka (JP); Ryokichi Hirata, Fukuoka (JP); and Masaru Adachi, Fukuoka (JP)
Filed by TOKYO INSTITUTE OF TECHNOLOGY, Tokyo (JP); and KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Aug. 2, 2022, as Appl. No. 17/816,727.
Application 17/816,727 is a continuation of application No. PCT/JP2020/016460, filed on Apr. 14, 2020.
Claims priority of provisional application 62/969,171, filed on Feb. 3, 2020.
Prior Publication US 2022/0371203 A1, Nov. 24, 2022
Int. Cl. B25J 13/00 (2006.01); B25J 9/16 (2006.01); B25J 13/06 (2006.01)
CPC B25J 13/06 (2013.01) [B25J 9/163 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot control system comprising circuitry configured to:
acquire an input command value indicating a manipulation of a robot by a subject user;
acquire a current state of the robot and a target state associated with the manipulation of the robot;
determine a state difference between the current state and the target state;
acquire from a learned model, a degree of distribution associated with a motion of the robot, based on the state difference, wherein the learned model includes a first model generated based on a past manipulation by another user different from the subject user, and a second model generated based on a past manipulation by the subject user, and wherein the degree of distribution includes a first degree of distribution acquired from the first model and a second degree of distribution acquired from the second model;
set a level of assistance to be given during the manipulation of the robot by the subject user, based on the degree of distribution acquired, wherein the level of assistance includes a first level of assistance that is set based on the first degree of distribution, and a second level of assistance that is set based on the second degree of distribution; and
generate an output command value for operating the robot, based on the input command value and the level of assistance.