专利名称：DEVICE AND METHOD FOR CONTROLLING A
ROBOT
发明人：Jan Guenter Woehlke,Felix Schmitt,Herke
Van Hoof
申请号：US17231786申请日：20210415
公开号：US20210341904A1公开日：20211104
专利附图：
摘要：A method for controlling a robot. The method includes receiving an indicationof a target configuration to be reached from an initial configuration of the robot,
determining a coarse-scale value map by value iteration, starting from an initial coarse-scale state and until the robot reaches the target configuration or a maximum number offine-scale states has been reached, determining a fine-scale sub-goal from the coarse-scale value map, performing, by an actuator of the robot, fine-scale control actions toreach the determined fine-scale sub-goal and obtaining sensor data to determine thefine-scale states reached, starting from a current fine-scale state of the robot and untilthe robot reaches the determined fine-scale sub-goal, the robot transitions to a differentcoarse-scale state, or a maximum sequence length of the sequence of fine-scale stateshas been reached and determining the next coarse-scale state.
申请人：Robert Bosch GmbH
地址：Stuttgart DE
国籍：DE
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