Provided are methods and apparatus for environment-adaptive robotic disinfecting. In an example, provided is a method that can include (i) creating, from digital images, a map of a structure; (ii) identifying a location of a robot in the structure; (iii) segmenting, using a machine learning-based classifying algorithm trained based on object affordance information, the digital images to identify potentially contaminated surfaces within the structure; (iv) creating a map of potentially contaminated surfaces within the structure; (v) calculating a trajectory of movement of the robot to move the robot to a location of a potentially contaminated surface in the potentially contaminated surfaces; and (vi) moving the robot along the trajectory of movement to position a directional decontaminant source adjacent to the potentially contaminated surface. Other methods, systems, and computer-readable media are also disclosed.

An object handling control device includes one or more processors configured to acquire at least object information and status information representing an initial position and a destination of an object; set, when a grasper grasping the object moves from the initial position to the destination, a first region, a second region, and a third region in accordance with the object information and the status information; and calculate a moving route along which the object is moved from the initial position to the destination with reference to the first region, the second region, and the third region.

An adaptive manipulation apparatus and method are provided. The adaptive manipulation method includes steps of providing a mobile manipulation apparatus comprising a manipulator, a sensor and a processor for a manipulation of an object placed on a carrier having a plurality of markers spaced apart from each other, the sensor detecting the plurality of markers to obtain a run time marker information, the processor, according to the base-case motion plan, generating a run time motion plan, wherein the run time motion plan comprises a plurality of second pose-aware actions, and the plurality of second pose-aware actions are modified from the plurality of first pose-aware actions according to the run time marker information, and the processor further executing the run time motion plan for controlling the manipulator to manipulate the object.

Parameters of a set of tools are stored on a storage device. The tools are part of a manufacturing assembly usable for removing one or more support structures from a part. The support structures are formed with the part to facilitate additive manufacturing of the part. A near-net shape is modeled which includes the part combined with the support structures. A process plan is developed that includes subtractive manufacturing operations by the manufacturing assembly that remove the support structures. The process plan repeatedly updates the near-net shape as each one of the support structures is incrementally removed.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

A technique for analyzing Quality of Experience, QoE, of a delay critical robotic application in a cloud robotics system is disclosed, the robotic application involving use of a cloud based service by a robot, the service being provided to the robot from a cloud using a connection over a mobile communication network. A method implementation of the technique comprises triggering (S202) determining whether a QoE measure associated with the robotic application exceeds a threshold to assess whether QoE degradation is present, and, when it is determined that QoE degradation is present, triggering (S204) identifying a root cause for the QoE degradation based on one or more performance indicators observed within the mobile communication network and associated with the connection.

An example computer-implemented method includes receiving, from one or more vision components in an environment, vision data that captures features of the environment, including object features of an object that is located in the environment, and prior to a robot manipulating the object: (i) determining based on the vision data, at least one first adjustment to a programmed trajectory of movement of the robot operating in the environment to perform a task of transporting the object, and (ii) determining based on the object features of the object, at least one second adjustment to the programmed trajectory of movement of the robot operating in the environment to perform the task, and causing the robot to perform the task, in accordance with the at least one first adjustment and the at least one second adjustment to the programmed trajectory of movement of the robot.

A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.

A method for training a control strategy. The method includes providing training data, which demonstrate a control behavior, according to which control actions are to be generated, and training the control strategy with the aid of imitation learning by minimizing a measure of deviation between the distribution of state transitions according to the control strategy and the distribution of state transitions according to the demonstrated control behavior using the training data.

Provided are a controller and a program which optimize specifications of a motor, thereby enabling a reduction in costs related to an industrial robot. This controller controls a multi-axis robot for holding a workpiece and comprises: a planned operation angle position acquisition unit which acquires a planned operation angle position of the motor for each axis on the basis of a planned movement position of the workpiece; a torque calculation unit which calculates a load torque applied from the workpiece to the motor 140 on the basis of a load weight relating to the workpiece and a horizontal distance from the axial center of each axis to the workpiece; and a movement possibility determination unit which determines whether or not the motor can be moved to the planned operation angle position on the basis of a difference between the calculated load torque and an allowable torque of the motor.