US 12,145,268 B2
Inverse optimal control for human approach
Xingwei Wu, Sunnyvale, CA (US); Yalun Wen, Bryan, TX (US); and Katsu Yamane, Mountain View, CA (US)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Dec. 7, 2021, as Appl. No. 17/544,274.
Claims priority of provisional application 63/247,461, filed on Sep. 23, 2021.
Prior Publication US 2023/0091806 A1, Mar. 23, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1607 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1664 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An inverse optimal control approach robot, comprising:
a robot body; and
a controller controlling movement of the robot body toward a human target along a trajectory according to a cost function,
wherein the cost function includes a plurality of terms including a first term, a second term, and additional terms,
wherein the first term is associated with a duration of the trajectory for the inverse optimal control approach robot,
wherein the second term is associated with a social force and a final distance between the inverse optimal control approach robot and the human target,
wherein one or more of weights of the plurality of terms are optimized in two or more stages and at least one of the terms of the plurality of terms is introduced into the cost function after a first stage of the two or more stages, and
wherein the plurality of terms included in the cost function in the first stage consist of input terms, and the plurality of terms included in the cost function in a subsequent stage of the two or more stages include the at least one of the terms of the plurality of terms differing from the input terms included in the first stage.