A trajectory generating method includes a first generating process of generating a plurality of trajectories between a start teaching point and a target teaching point, an evaluation process of evaluating a motion of the robot arm on each trajectory to calculate an evaluation value of each trajectory, a selection process of selecting one of the plurality of trajectories based on calculated evaluation values, and an update process of updating the trajectory by repeating the processes of generating a plurality of new trajectories by changing a selected trajectory in the selection process, of calculating an evaluation value of a motion of the robot arm on each changed trajectory and of selecting a trajectory based on calculated evaluation values.

Learning to effectively imitate human teleoperators, even in unseen, dynamic environments is a promising path to greater autonomy, enabling robots to steadily acquire complex skills from supervision. Various motion generation techniques are described herein that are rooted in contraction theory and sum-of-squares programming for learning a dynamical systems control policy in the form of a polynomial vector field from a given set of demonstrations. Notably, this vector field is provably optimal for the problem of minimizing imitation loss while providing certain continuous-time guarantees on the induced imitation behavior. Techniques herein generalize to new initial and goal poses of the robot and can adapt in real time to dynamic obstacles during execution, with convergence to teleoperator behavior within a well-defined safety tube.

In one embodiment, a method includes determining objects and actions associated with the objects for completing a task to be executed by a robotic system, wherein each action is associated with trajectory, determining a pose for each person in an environment associated with the robotic system, predicting a trajectory for each person based on the determined pose associated with the respective person and the actions and trajectories associated with the actions, and adjusting trajectories for one or more of the actions to be performed by the robotic system based on the predicted trajectories for each person.

The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.

A device for indicating appropriate social distancing includes the ability to project light (in various forms and in a various ways) onto the ground in a manner visible by the user and those around them. A boundary of the projected light can be set to an acceptable social distance and can include different colors to indicated varying social distances for varying levels of trusted individuals. Proximity sensors set to appropriate distancing requirements, along with the varying levels of trust can be implemented into multiple devices being used in a group setting.

A method of controlling a movement of a robot based on determination of a risk level includes: a risk level determining operation of determining a risk level related to a motion of the robot; and a robot control operation of controlling the movement of the robot based on the risk level, wherein the robot transfers an object. The determination of the risk level related to the motion of the robot includes: an internal risk level determining operation of determining an internal risk level based on an attribute of the object; and an external risk level determining operation of determining an external risk level related to an environmental state around the robot.

A device for indicating appropriate social distancing includes the ability to project light (in various forms and in a various ways) onto the ground in a manner visible by the user and those around them. A boundary of the projected light can be set to an acceptable social distance and can include different colors to indicated varying social distances for varying levels of trusted individuals. Proximity sensors set to appropriate distancing requirements, along with the varying levels of trust can be implemented into multiple devices being used in a group setting.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

A device for indicating appropriate social distancing includes the ability to project light (in various forms and in a various ways) onto the ground in a manner visible by the user and those around them. A boundary of the projected light can be set to an acceptable social distance and can include different colors to indicated varying social distances for varying levels of trusted individuals. Proximity sensors set to appropriate distancing requirements, along with the varying levels of trust can be implemented into multiple devices being used in a group setting.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.