Granted Patent B2

US 12,447,610 · App. 18/161,142 · Granted Oct 21, 2025

Inventors: Philipp Christian Schillinger (Renningen, DE); Akshay Dhonthi Ramesh Babu (Ingolstadt, DE); Leonel Rozo (Boeblingen, DE)

Assignee: ROBERT BOSCH GMBH

B25J9/163B25J9/1653B25J9/1661B25J13/08

Abstract

Claims (24)

1. A method for controlling a robotic device, the method comprising the following steps:

generating a robot control model for performing a task, wherein the robot control model includes parameters which influence the performance of the task;

adjusting the parameters of the robot control model by optimizing a target function which evaluates the adherence to at least one condition with respect to a temporal progression of at least one continuous sensor signal when performing the task;

representing the at least one condition according to temporal signal logic in at least one temporal signal logic formula;

converting the at least one temporal signal logic formula into at least one measure of robustness;

evaluating the target function by determining a value of the at least one measure of robustness for performing the task; and

controlling the robotic device according to the robot control model to perform the task using the adjusted parameters.

2. The method according to claim 1 , wherein the parameters of the robot control model include time-related parameters and location-related parameters.

3. The method according to claim 1 , wherein the robot control model is a hidden semi-Markov model (HSMM).

4. The method according to claim 1 , wherein the at least one continuous sensor signal indicates a location of a portion of the robotic device and/or a force acting on a portion of the robotic device.

5. A robot control device configured to control a robotic device, the robotic device configured to:

generate a robot control model for performing a task, wherein the robot control model includes parameters which influence the performance of the task;

adjust the parameters of the robot control model by optimizing a target function which evaluates the adherence to at least one condition with respect to a temporal progression of at least one continuous sensor signal when performing the task;

represent the at least one condition according to temporal signal logic in at least one temporal signal logic formula;

convert the at least one temporal signal logic formula into at least one measure of robustness;

evaluate the target function by determining a value of the at least one measure of robustness for performing the task; and

control the robotic device according to the robot control model to perform the task using the adjusted parameters.

6. A non-transitory computer-readable medium on which is stored a computer program for controlling a robotic device, the computer program, when executed by a processor, causing the processor to perform the following steps:

generating a robot control model for performing a task, wherein the robot control model includes parameters which influence the performance of the task;

adjusting the parameters of the robot control model by optimizing a target function which evaluates the adherence to at least one condition with respect to a temporal progression of at least one continuous sensor signal when performing the task;

representing the at least one condition according to temporal signal logic in at least one temporal signal logic formula;

converting the at least one temporal signal logic formula into at least one measure of robustness;

evaluating the target function by determining a value of the at least one measure of robustness for performing the task; and

controlling the robotic device according to the robot control model to perform the task using the adjusted parameters.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)