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Control of robots from human motion descriptors

  • US 8,924,021 B2
  • Filed: 04/12/2007
  • Issued: 12/30/2014
  • 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:

  • determining a plurality of articulated joint space trajectories based on r sensed motion information of the members of the articulated system;

    determining a plurality of reference joint space trajectories based on a tracked motion of a source system, wherein the reference joint space trajectories are determined independently from the articulated joint space trajectories;

    constructing a weighted matrix based on constraints on movement of the members of the articulated system, the reference joint space trajectories, and the articulated joint space trajectories; and

    determining a joint velocity vector based on the weighted matrix, the reference joint space trajectories, and the articulated joint space trajectories;

    generating torque commands that control movement of the members of the articulated system while enforcing constraints on movement of the members by a control law incorporating;

    a first constant diagonal feedback gain matrix based on the joint velocity vector, a second constant diagonal feedback gain matrix based on the reference joint space trajectories and the articulated joint space trajectories, and a third constant diagonal feedback gain matrix.

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