Control Of Robots From Human Motion Descriptors
First Claim
Patent Images
1. A method for controlling movement of members of an articulated system, the method comprising:
- tracking motion of a source system;
enforcing constraints on movement of the members of the articulated system;
receiving sensed motion information of the members of the articulated system; and
generating torque commands for controlling movement of the members of the articulated system in response to the tracking motion, the sensed motion information, and the constraints.
2 Assignments
0 Petitions
Accused Products
Abstract
A control system and method generate torque comments for motion 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 as replicated by the target system.
-
Citations
35 Claims
-
1. A method for controlling movement of members of an articulated system, the method comprising:
-
tracking motion of a source system; enforcing constraints on movement of the members of the articulated system; receiving sensed motion information of the members of the articulated system; and generating torque commands for controlling movement of the members of the articulated system in response to the tracking motion, the sensed motion information, and the constraints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A system for controlling movement of members of an articulated system, the system comprising:
-
a tracking system for tracking motion of a source system; a constraint system for enforcing constraints on movement of the members of the articulated system; an input for receiving sensed motion information of the members of the articulated system and a control system for generating torque commands for controlling movement of the members of the articulated system in response to the tracking motion, the sensed Motion information, and the constraints.
-
-
21. A method of tracking motion of a human for replication by an articulated system, the method comprising:
-
assigning human motion primitives to portions of the human; detecting motion of the portions of the human represented by the human motion primitives; generating torque commands for the articulated system to replicate motion of the human in response to the detected motion; adjusting the torque commands for the replication motion in response to physical limitations of the articulated system for performing motions. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
-
-
31. A system of tracking motion of a human for replication by an articulated system, the system comprising:
-
a first control system for assigning human motion primitives to portions of the human; a second control system for detecting motion of the portions of the human represented by the human motion primitives; a third control system for generating torque commands for the articulated system to replicate motion of the human in response to the detected motion; a fourth control system for adjusting the torque commands for the replication motion in response to physical limitations of the articulated system for performing motions.
-
-
32. A method of tracking motion of a human for replication by an articulated system, the method comprising:
-
assigning human motion primitives to portions of the human; detecting motion of the portions of the human represented by the human motion primitives; generating torque commands for the articulated system to replicate motion of the human in response to the detected motion; adjusting the torque commands for the replication motion in response to a preference of human motion primitives of the articulated system for performing motions. - View Dependent Claims (33, 34)
-
-
35. A system of tracking motion of a human for replication by an articulated system, the system comprising:
-
a first control system for human motion primitives; a second control system for detecting motion of the portions of the human represented by the human motion primitives; a third control system generating torque commands for the articulated system to replicate motion of the human in response to the detected motion; and a fourth control system for adjusting the torque commands for the replication motion in response to a preference of human motion primitives of the articulated system for performing motions.
-
Specification