Deutsch English Français

Contact

EP3568268

European procedure

Quick help

Maintenance news

Scheduled maintenance

Regular maintenance outages:
between 05.00 and 05.15 hrs CET (Monday to Sunday).

Other outages
Availability

2022.02.11

More...

News flashes

Italy joins the Federated Register

Click here for more information on the Federated Register.

2025-06-12

More...

Extract from the Register of European Patents

EP About this file: EP3568268

EP3568268 - IMPROVEMENTS RELATED TO GENERATING A ROBOT CONTROL POLICY FROM DEMONSTRATIONS COLLECTED VIA KINESTHETIC TEACHING OF A ROBOT [Right-click to bookmark this link]
Status	No opposition filed within time limit Status updated on 24.09.2021 Database last updated on 20.03.2026
Former	The patent has been granted Status updated on 16.10.2020
Former	Grant of patent is intended Status updated on 28.05.2020
Former	Request for examination was made Status updated on 18.10.2019
Former	The international publication has been made Status updated on 18.08.2018
Former	unknown Status updated on 02.03.2018
Most recent event Tooltip	19.12.2025	Lapse of the patent in a contracting state New state(s): TR	published on 21.01.2026 [2026/04]
Applicant(s)	For all designated states X Development LLC 1600 Amphitheatre Parkway Mountain View, CA 94043 / US
	[2019/47]
Inventor(s)	01 / KHANSARI ZADEH, Seyed Mohammad 1600 Amphitheatre Parkway Mountain View California 94043 / US
	[2019/47]
Representative(s)	Derry, Paul Stefan, et al Venner Shipley LLP 200 Aldersgate London EC1A 4HD / GB
	[2019/47]
Application number, filing date	18706162.7	08.02.2018
	[2019/47]
	WO2018US17461
Priority number, date	US201715428916	09.02.2017 Original published format: US201715428916
	[2019/47]
Filing language	EN
Procedural language	EN
Publication	Type:	A2 Application without search report
	No.:	WO2018148437
	Date:	16.08.2018
	Language:	EN
	[2018/33]
	Type:	A2 Application without search report
	No.:	EP3568268
	Date:	20.11.2019
	Language:	EN
	The application published by WIPO in one of the EPO official languages on 16.08.2018 takes the place of the publication of the European patent application.
	[2019/47]
	Type:	B1 Patent specification
	No.:	EP3568268
	Date:	18.11.2020
	Language:	EN
	[2020/47]
Search report(s)	International search report - published on:	EP	25.10.2018
Classification	IPC:	B25J9/16, B25J9/22, G05B19/423	[2020/23]
	CPC:	G05B19/423 (EP,US); B25J9/163 (US); B25J13/088 (US); B25J9/1664 (EP,US); G06N20/00 (EP); G06V20/10 (EP); (+) G05B2219/40465 (EP,US); G05B2219/40471 (EP,US); G05B2219/40474 (EP,US); Y10S901/04 (EP,US) (-)
	Former IPC [2019/47]	B25J9/16, G05B19/423
Designated contracting states	AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LI, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR [2019/47]
Extension states	BA	Not yet paid
	ME	Not yet paid
Validation states	MA	Not yet paid
	MD	Not yet paid
	TN	Not yet paid
Title	German:	VERBESSERUNGEN IN BEZUG AUF DIE ERZEUGUNG EINER ROBOTERSTEUERUNGSRICHTLINIE AUS DEMONSTRATIONEN, DIE DURCH KINÄSTHETISCHES LEHREN EINES ROBOTERS GESAMMELT WURDEN	[2019/47]
	English:	IMPROVEMENTS RELATED TO GENERATING A ROBOT CONTROL POLICY FROM DEMONSTRATIONS COLLECTED VIA KINESTHETIC TEACHING OF A ROBOT	[2019/47]
	French:	AMÉLIORATIONS SE RAPPORTANT À LA GÉNÉRATION D'UNE POLITIQUE DE COMMANDE DE ROBOT À PARTIR DE DÉMONSTRATIONS COLLECTÉES PAR LE BIAIS D'UN APPRENTISSAGE KINESTHÉSIQUE D'UN ROBOT	[2020/23]
	Former [2019/47]	GÉNÉRATION DE POLITIQUE DE COMMANDE DE ROBOT À PARTIR DE DÉMONSTRATIONS COLLECTÉES PAR LE BIAIS D'UN APPRENTISSAGE KINESTHÉSIQUE D'UN ROBOT
Entry into regional phase	16.08.2019	National basic fee paid
	16.08.2019	Designation fee(s) paid
	16.08.2019	Examination fee paid
Examination procedure	16.08.2019	Examination requested [2019/47]
	16.08.2019	Date on which the examining division has become responsible
	28.02.2020	Amendment by applicant (claims and/or description)
	29.05.2020	Communication of intention to grant the patent
	07.10.2020	Fee for grant paid
	07.10.2020	Fee for publishing/printing paid
	07.10.2020	Receipt of the translation of the claim(s)
Divisional application(s)	EP20206274.1 / EP3795307
Opposition(s)	19.08.2021	No opposition filed within time limit [2021/43]
Fees paid	Renewal fee
	26.02.2020	Renewal fee patent year 03
Opt-out from the exclusive Tooltip competence of the Unified Patent Court	See the Register of the Unified Patent Court for opt-out data
	Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court.
Lapses during opposition Tooltip	HU	08.02.2018
	AL	18.11.2020
	AT	18.11.2020
	CY	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	MK	18.11.2020
	MT	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	TR	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
	[2026/04]
Former [2024/42]	HU	08.02.2018
	AL	18.11.2020
	AT	18.11.2020
	CY	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	MK	18.11.2020
	MT	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2024/23]	HU	08.02.2018
	AL	18.11.2020
	AT	18.11.2020
	CY	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	MK	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2023/33]	HU	08.02.2018
	AL	18.11.2020
	AT	18.11.2020
	CY	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2023/30]	AL	18.11.2020
	AT	18.11.2020
	CY	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2022/34]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	BE	28.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2022/23]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2022/10]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	PT	18.03.2021
Former [2022/08]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	ES	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2022/07]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	IE	08.02.2021
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/50]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SI	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/48]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	IT	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/47]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	LU	08.02.2021
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	CH	28.02.2021
	LI	28.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/46]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	NL	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/45]	AL	18.11.2020
	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/41]	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	MC	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/37]	AT	18.11.2020
	CZ	18.11.2020
	DK	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/36]	AT	18.11.2020
	CZ	18.11.2020
	EE	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/35]	AT	18.11.2020
	CZ	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RO	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SK	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/33]	AT	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LT	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/32]	AT	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	SM	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/28]	AT	18.11.2020
	FI	18.11.2020
	HR	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/25]	AT	18.11.2020
	FI	18.11.2020
	LV	18.11.2020
	PL	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	IS	18.03.2021
	PT	18.03.2021
Former [2021/23]	AT	18.11.2020
	FI	18.11.2020
	LV	18.11.2020
	RS	18.11.2020
	SE	18.11.2020
	BG	18.02.2021
	NO	18.02.2021
	GR	19.02.2021
	PT	18.03.2021
Former [2021/22]	FI	18.11.2020
	RS	18.11.2020
	NO	18.02.2021
	PT	18.03.2021
Former [2021/21]	FI	18.11.2020
	PT	18.03.2021
Former [2021/20]	FI	18.11.2020
Cited in	International search	[A] DE19625637 (TEN BRINK CARSTEN DIPL ING et al.) [A] 1-8,13-20 * page 25, line 45 - page 26, line 52 *
		[A] KHANSARI-ZADEH SEYED MOHAMMAD ET AL: "Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors", AUTONOMOUS ROBOTS, KLUWER ACADEMIC PUBLISHERS, DORDRECHT, NL, vol. 41, no. 1, 19 December 2015 (2015-12-19), pages 45 - 69, XP036128508, ISSN: 0929-5593, [retrieved on 20151219], DOI: 10.1007/S10514-015-9528-Y [A] 1-8,13-20 * abstract * * Sections 1-4, 6, 8 * DOI: http://dx.doi.org/10.1007/s10514-015-9528-y
		[A] MAZURAN MLADEN ET AL: "LexTOR: Lexicographic teach optimize and repeat based on user preferences", 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 26 May 2015 (2015-05-26), pages 2780 - 2786, XP033168791, DOI: 10.1109/ICRA.2015.7139577 [A] 1-8,13-20 * the whole document * DOI: http://dx.doi.org/10.1109/ICRA.2015.7139577
		[A] MOHAMMAD KHANSARI-ZADEH S ET AL: "Imitation learning of globally stable non-linear point-to-point robot motions using nonlinear programming", INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2010 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 18 October 2010 (2010-10-18), pages 2676 - 2683, XP031920619, ISBN: 978-1-4244-6674-0, DOI: 10.1109/IROS.2010.5651259 [A] 1-8,13-20 * abstract * * Sections I, V to VIII * DOI: http://dx.doi.org/10.1109/IROS.2010.5651259
		[XA] ANDREW WINN ET AL: "Learning potential functions by demonstration for path planning", DECISION AND CONTROL (CDC), 2012 IEEE 51ST ANNUAL CONFERENCE ON, IEEE, 10 December 2012 (2012-12-10), pages 4654 - 4659, XP032323914, ISBN: 978-1-4673-2065-8, DOI: 10.1109/CDC.2012.6426153 [X] 9 * the whole document * [A] 1-8,10-20 DOI: http://dx.doi.org/10.1109/CDC.2012.6426153

The EPO accepts no responsibility for the accuracy of data originating from other authorities; in particular, it does not guarantee that it is complete, up to date or fit for specific purposes.

Legal notice
Terms of use
24.3.42; 40p