Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

This disclosure provides systems and methods for robotic task planning when a complex task instruction is provided in natural language. Conventionally robotic task planning relies on a single task or multiple independent or serialized tasks in the task instruction. Alternatively, constraints on space of linguistic variations, ambiguity and complexity of the language may be imposed. In the present disclosure, firstly dependencies between multiple tasks are identified. The tasks are then ordered such that a dependent task is always scheduled for planning after a task it is dependent upon. Moreover, repeated tasks are masked. Thus, resolving task dependencies and ordering dependencies, a complex instruction with multiple interdependent tasks in natural language facilitates generation of a viable task execution plan. Systems and methods of the present disclosure finds application in human-robot interactions.

A program generation device includes a display; at least one memory configured to store an operation symbol including information in relation to an operation command of a robot, and an auxiliary symbol including information in relation to a control command for adding an operation of the robot or for correcting the operation of the robot defined by at least one operation symbol; and at least one processor configured to obtain information in relation to setting of at least one of the operation symbol or the auxiliary symbol, and cause the display to display the operation symbol and the auxiliary symbol so as to align the operation symbol and the auxiliary symbol in order of operations of the robot based on the obtained information in relation to setting.

To provide a robot controller and a robot control method that do not need a logic command to be associated with a teaching position for a robot, and that are thus capable of executing the logic command at a desired position and a desired timing. A robot controller includes: an operation command interpretation unit that interprets an operation command program describing a teaching operation and a teaching position for a robot, and that generates an operation command; a logic command interpretation unit that interprets a logic command program describing a logic command instructing a machining process to be performed by the robot and an execution position for the logic command, independently from the teaching operation and the teaching position, and that generates the logic command that includes the execution position; and a command execution unit that executes the operation command and the logic command.

An improved method, system, and apparatus is provided to implement a general architecture for robot systems. A mode execution module is provided to universally execute execution modes on different robotic system. A system includes an execution module that receives software instructions in a normalized programming language. The system also includes an interface having a translation layer that converts the software instructions from the normalized language into robot-specific instructions that operate in a particular robotic system. The system further includes a controller that is communicatively coupled to the interface, wherein the controller receives the robot-specific instructions. Moreover, the system includes a robotic device that is operatively controlled by the controller by execution of the robot-specific instructions.

An electronic apparatus for a database construction and control of a robotic manipulator is provided. The electronic apparatus stores information associated with a task of a robotic manipulator. The electronic apparatus further receives a first plurality of signals from a first plurality of sensors associated with a wearable device. The electronic apparatus further applies a predefined model on a first set of signals of the first plurality of signals. The electronic apparatus further determines arrow direction information based on the application of the predefined model on the first set of signals. The electronic apparatus further aggregates the determined arrow direction information with information about the first set of signals to generate output information. The electronic apparatus further stores the generated output information for each of a first plurality of poses performed for the task using the wearable device.

When performing work on a workpiece with a tool of a robot while the robot and the workpiece are moved relative to each other by an additional axis mechanism, the tool is to be pressed against the workpiece from an appropriate direction. A control device includes an additional axis movement amount acquisition section that acquires an additional axis movement amount, a command generation section that generates a movement command for a robot based on operation plan data of the robot and the additional axis movement amount, a vector acquisition section that, based on the operation plan data or the additional axis movement amount, acquires a vector in a direction along a work target portion of a workpiece, and a pressing direction determination section that determines a pressing direction in which the robot is to press the tool against the workpiece during work, using the vector acquired by the vector acquisition section.

A motion control method, a robot, and a computer-readable storage medium are provided. The method includes: calculating a task matrix and expected information of each task of the robot based on reference trajectory information of each task of the robot in a control period and state estimation information of each task of the robot in the control period; calculating a constraint matrix and a boundary of an inequality constraint that the robot needs to satisfy based on the state estimation information; constructing a hierarchical quadratic programming problem with recursive hierarchical projection based on all the information obtained above, a real-time determined weight coefficient of each task, and a real-time determined priority level of each task: and solving the hierarchical quadratic programming problem to obtain a result, and generating a joint control instruction for controlling each joint of the robot to move.

A data processing system for controlling different types of mobile platforms. The data processing system includes an abstraction component, a standardization component and a driver management. The abstraction component is designed to be connected to one or to multiple platforms, to determine types of mobile platforms, to indicate the types to the driver management and to use drivers provided by the driver management in order to convert messages between an interface to the standardization component and interfaces to the mobile platforms, and/or in order to activate functions of the mobile platforms and of the standardization component. The interfaces of the abstraction component to the mobile platforms include interfaces to the software components of the mobile platforms.

The present invention makes it possible to create a vision detection program without a sense of incongruity, even for an operator who is used to robot programming but not used to vision detection programming. Provided is a program editing device for editing a motion program for a robot, the program editing device including: a program editing unit which receives common input operations with respect to a first type of icon that corresponds to commands relating to control of the robot and a second type of icon that corresponds to commands relating to image capture by a visual sensor and to processing of captured images; and a program generation unit which generates the motion program in accordance with the first type of icon and second type of icon subjected to editing.