Reconstruction, Retargetting, Tracking, And Estimation Of Pose Of Articulated Systems

• US 20070162164A1
• Filed: 12/21/2006
• Published: 07/12/2007
• Est. Priority Date: 12/22/2005
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Dariush, Behzad
• Granted Patent: US 8,467,904 B2
• Time in Patent Office: Days
• US Class Current: 700/61
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 2219/39062 Calculate, jacobian matrix estimator
• CPC Class Codes: G05B 2219/39219 Trajectory tracking
• CPC Class Codes: G05B 2219/39381 Map task, application to behaviour, force tracking, singularity to motion to actuator
• CPC Class Codes: G05B 2219/40264 Human like, type robot arm
• CPC Class Codes: G05B 2219/40476 Collision, planning for collision free path
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/251 involving models
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A control system and method generate joint variables for motion or posing of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion or posing as replicated by the target system.

Claims

1. A method for estimating the pose of an articulated system, the method comprising:

observing a plurality of task descriptors for position of members of a source system; and

generating joint variables for positioning of members of the articulated system, in response to the observed task descriptors, the number of task descriptors being less than the degrees of freedom of movement of the source system.

2. The method of claim 1 wherein the source system comprises human features detected from images or data.

3. A system for positioning an articulated system, the system comprising:

a first control system for observing a plurality of task descriptors for position of members of a source system; and

a second control system for generating joint variables for positioning of members of the articulated system, in response to the observed task descriptors, the number of task descriptors being less than the degrees of freedom of movement of the source system.

4. A method for controlling the positioning of members of an articulated system, the method comprising:

tracking positions of a source system;

generating constraints on positions of the members of the articulated system; and

generating commands for controlling position of the members of the articulated system in response to the tracking position and the constraints.

5. The method of claim 4 further comprising:

generating a balance control command in response to the commands.

6. The method of claim 4 wherein the tracking includes first order closed loop inverse kinematics.

7. The method of claim 6 wherein the tracking further comprises regularizing an inverse Jacobian matrix of the position of the source object.

8. The method of claim 4 wherein the tracking includes second order closed loop inverse kinematics.

9. The method of claim 8 wherein the tracking further comprises regularizing an inverse Jacobian matrix of the motion of the source object.

10. The method of claim 4 wherein the generating commands includes:

generating an error between a function of the command and the source position of the source system;

generating a control command according to a control law in response to the command and constraints;

generating a prediction of position in response to the control command; and

generating the command in response to the prediction.

11. The method of claim 10 further comprising:

calculating forward kinematics of the command to generate said function of the command.

12. The method of claim 4 wherein the constraints include singularities arising from limitations of performing tasks due to insufficient degrees of freedom for executing the tasks.

13. The method of claim 4 wherein the constraints include singularities arising from mathematics of the generating a control command.

14. The method of claim 4 wherein the articulated system is a human model.

15. The method of claim 4 wherein the articulated system is a robot.

16. A method for controlling the positioning of members of an articulated system, the method comprising:

tracking positions of a source system;

generating constraints on positions of the members of the articulated system; and

estimating forces for maintaining position of the members of the articulated system in response to the tracking position and the constraints;

estimating torques for maintaining position of the members of the articulated system in response to the tracking position, estimated forces and the constraints.