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Control Of Robots From Human Motion Descriptors

  • US 20070255454A1
  • Filed: 04/12/2007
  • Published: 11/01/2007
  • Est. Priority Date: 04/27/2006
  • Status: Active Grant
First Claim
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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.

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