Systems and methods for tracking and balancing robots for imitating motion capture data
First Claim
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1. A mechanical artificial agent comprising:
- a plurality of moving parts being joined via a plurality of joints; and
a controller configured to control motion of the plurality of moving parts, the controller comprising;
a kinematic mapping module and a dynamic mapping module configured to process input reference motion;
a balance controller configured to provide a balancing control signal; and
a tracking controller configured to generate motion commands, the motion commands being configured to track the input reference motion while maintaining balance in accordance with the balancing control signal;
wherein each one of the plurality of joints is capable of utilizing the motion commands and contributing to tracking the reference motion and maintaining balance; and
wherein the dynamic mapping module is configured to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
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Abstract
Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system.
18 Citations
16 Claims
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1. A mechanical artificial agent comprising:
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a plurality of moving parts being joined via a plurality of joints; and a controller configured to control motion of the plurality of moving parts, the controller comprising; a kinematic mapping module and a dynamic mapping module configured to process input reference motion; a balance controller configured to provide a balancing control signal; and a tracking controller configured to generate motion commands, the motion commands being configured to track the input reference motion while maintaining balance in accordance with the balancing control signal; wherein each one of the plurality of joints is capable of utilizing the motion commands and contributing to tracking the reference motion and maintaining balance; and wherein the dynamic mapping module is configured to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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receiving input data corresponding to reference motion; utilizing a kinematic mapping module and a dynamic mapping module to process the input data corresponding to reference motion; providing a balancing control signal to a tracking controller of a mechanical artificial agent having a plurality of moving parts joined via a plurality of joints; providing a tracking control signal via the tracking controller, the tracking control signal comprising motion commands configured to track reference motion while maintaining balance in accordance with the balancing control signal; wherein each one of the plurality of joints is capable of utilizing the motion commands and contributing to tracking the reference motion and maintaining balance; and using the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An apparatus comprising:
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one or more processors; and a program storage device having computer readable program code associated therewith configured to control motion of a mechanical artificial agent having a plurality of moving parts joined via a plurality of joints, the computer readable program code being executable by the one or more processors and comprising; computer readable program code configured to receive input data corresponding to reference motion; computer readable program code configured to utilize a kinematic mapping module and a dynamic mapping module to process the input data corresponding to reference motion; computer readable program code configured to provide a balancing control signal;
computer readable program code configured to generate motion commands, the motion commands being configured to track input reference motion while maintaining balance in accordance with the balancing control signal;wherein each one of the plurality of joints is capable of utilizing the motion commands and contributing to tracking the reference motion and maintaining balance; and computer readable program code configured to use the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
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16. A computer program product comprising:
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a program storage device having computer readable program code associated therewith configured to control motion of a mechanical artificial agent having a plurality of moving parts joined via a plurality of joints, the computer readable program code being executable by one or more processors and comprising; computer readable program code configured to receive input data corresponding to reference motion; computer readable program code configured to utilize a kinematic mapping module and a dynamic mapping module to process the input data corresponding to reference motion; computer readable program code configured to provide a balancing control signal; computer readable program code configured to generate motion commands, the motion commands being configured to track input reference motion while maintaining balance in accordance with the balancing control signal; wherein each one of the plurality of joints is capable of utilizing the motion commands and contributing to tracking the reference motion and maintaining balance; and computer readable program code configured to use the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
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Specification