Apparatus and methods for online training of robots

Patent metadata

Field	Value
Publication number	US-9463571-B2
Application number	US-201314070114-A
Country	US
Kind code	B2
Filing date	Nov 1, 2013
Priority date	Nov 1, 2013
Publication date	Oct 11, 2016
Grant date	Oct 11, 2016

Abstract

Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.

First claim

What is claimed:

1. A robotic apparatus, comprising:
a controllable actuator;
a sensor module configured to provide information related to an environment surrounding the robotic apparatus; and
an adaptive controller configured to produce a control instruction for the controllable actuator in accordance with the information provided by the sensor module, the control instruction being configured to cause the robotic apparatus to execute a target task;
wherein:
execution of th…

Assignees

• Brain Corp
• Brian Corp

Inventors

• Sinyavskiy Oleg
• Passot Jean-Baptiste
• Izhikevich Eugene

Classifications

• G05B2219/33056

  Physics · mapped topic

• G05D1/0088

  Physics · mapped topic

• G06N3/049

  Physics · mapped topic

• G06N3/008

  Physics · mapped topic

• G05B2219/40499

  Physics · mapped topic