US 12,447,610 B2
Method for controlling a robotic device
Philipp Christian Schillinger, Renningen (DE); Akshay Dhonthi Ramesh Babu, Ingolstadt (DE); and Leonel Rozo, Boeblingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jan. 30, 2023, as Appl. No. 18/161,142.
Claims priority of application No. 10 2022 201 116.3 (DE), filed on Feb. 2, 2022.
Prior Publication US 2023/0241772 A1, Aug. 3, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1661 (2013.01); B25J 13/08 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method for controlling a robotic device, the method comprising the following steps:
generating a robot control model for performing a task, wherein the robot control model includes parameters which influence the performance of the task;
adjusting the parameters of the robot control model by optimizing a target function which evaluates the adherence to at least one condition with respect to a temporal progression of at least one continuous sensor signal when performing the task;
representing the at least one condition according to temporal signal logic in at least one temporal signal logic formula;
converting the at least one temporal signal logic formula into at least one measure of robustness;
evaluating the target function by determining a value of the at least one measure of robustness for performing the task; and
controlling the robotic device according to the robot control model to perform the task using the adjusted parameters.