A service providing system includes one or more robots and an information processing apparatus communicably connected to the robots. The information processing apparatus acquires analysis information based on information in an area in which the robot provides a service, acquires robot state information from the robot, stores service information as information on the service, acquires one or more service triggers based on the analysis information, calculates a service effect based on at least any one of service information of a service corresponding to each of a plurality of service triggers, the robot state information, and the information acquired in the service providing area, the service effect being an effect of the service corresponding to each of a plurality of service triggers, selects a service trigger depending on the service effect, and causes the robot as a service execution subject to execute a service corresponding to the selected service trigger.

The present invention provides a method for robot action imitation learning in a three-dimensional space and a system thereof, relates to the technical fields of artificial intelligence and robots. A method based on a series-parallel multi-layer backpropagation (BP) neural network is designed for robot action imitation learning in a three-dimensional space, which applies an imitation learning mechanism to a robot learning system, under the framework of the imitation learning mechanism, to train and learn by transmitting demonstrative information generated from a mechanical arm to the series-parallel multi-layer BP neural network representing a motion strategy. The correspondence between a state characteristic matrix set of the motion and an action characteristic matrix set of the motion is learned, to reproduce the demonstrative action, and generalize the actions and behaviors, so that when facing different tasks, the method does not need to carry out action planning separately, thereby achieving high intelligence.

A robot system including: a robot manipulator that includes links interconnected by joints with degrees of freedom that are at least partially redundant to one another; an operating unit configured to detect an input from a user with respect to at least one selected direction of a force; and a control unit configured to receive the input from the operating unit, determine components of a transpose of a Jacobian matrix associated with a respective selected direction for a predetermined position and/or orientation of a distal end of the robot manipulator in a null space such that a first metric based on the components satisfies one of following criteria: unequal to zero, greater than a specified limit, or a maximum, and control the robot manipulator to move a subset of the links in the null space so as to assume a pose according to the components as determined.

A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

A method for controlling a robotic device. The method includes providing demonstrations for carrying out a skill by the robot, each demonstration including a robot pose, an acting force as well as an object pose for each point in time of a sequence of points in time, ascertaining an attractor demonstration for each demonstration, training a task-parameterized robot trajectory model for the skill based on the attractor trajectories and controlling the robotic device according to the task-parameterized robot trajectory model.

A display guided robotic navigation and control system comprises a display system including a display surface and a display device configured to display an image including a visual pattern onto the display surface, a robotic system including a mobile robotic device and an optical sensor attached to the mobile robotic device, and a computing system communicatively connected to the display system and the robotic system. Related methods are also disclosed.

A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.

A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.

The invention proposes an axis-invariant multi-axis system dynamics modeling and solving principle, and realizes iterative explicit dynamic modeling of multi-axis systems with tree chains, closed chains, friction and viscous joints and moving pedestals. The established model has elegant chain symbol system with pseudo-code function, which realizes complete parameterization including “topology, coordinate system, polarity, structural parameters, mass inertia, etc.”. The principle can be set to circuit, code, directly or indirectly, partially or fully executed inside a multi-axis robot system. In addition, the present invention also includes analytical verification system constructed on these principles for designing and verifying a multi-axis robot system.

A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.