Patent ID: 11872699
Assignee: GOOGLE LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B  G

Claim 5:
6. A system, comprising:
a robot;
one or more computers comprising:
memory storing instructions;
one or more processors operable to execute the instructions to:
receive a group of data points generated based on sensor data from one or more sensors of the robot during physical manipulation of the robot, the physical manipulation being by a user to traverse a reference point of the robot from an initial point to a target point;
for each of the data points of the group:
assign only d stiffness parameters to the data point, wherein d is a dimension of a task associated with the physical manipulation of the robot,
wherein the stiffness parameters assigned to each of the data points are based on sensor data, from a pressure sensor of the robot, during the physical manipulation,
wherein the sensor data is based on force applied to the pressure sensor during the physical manipulation of the robot, and
wherein the stiffness parameters assigned to a given data point, of the data points, are inversely proportional to spatial variance of the data points near the given data point;

generate a control policy that regulates both robot motion and robot interaction with an environment, wherein generating the control policy comprises using the data points and the stiffness parameters for the data points in learning a potential function for use in the control policy, the potential function having a global minimum based on the target point; and
control the robot based on the control policy.