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

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Dariush, Behzad, Jian, Bing
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US11/734,758
• Publication Number:
  US 20070255454A1
• Time in Patent Office: 2,819 Days
• Field of Search: 700245-264, 318567-56825
• US Class Current: 700/262
• CPC Class Codes: G05B 2219/40391 Human to robot skill transfer
• CPC Class Codes: G05B 2219/40495 Inverse kinematics model controls trajectory planning and servo system
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: Y10S 901/03 Teaching system
• CPC Class Codes: Y10S 901/46 Sensing device

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.

Claims

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.

2. The method of claim 1 wherein determining the reference joint space trajectories includes inverse kinematics.

3. The method of claim 2 wherein determining the reference joint space trajectories further comprises regularizing an inverse Jacobian matrix used to describe the differential kinematics of variables in the articulated system.

4. The method of claim 1 wherein the determining the reference joint space trajectories includes:

generating a position error and an orientation error based on the tracked motion of the source system and a previous reference joint space position;

generating a velocity error and an angular velocity error based on the tracked motion of the source system and a previous reference joint space velocity; and

determining the reference joint space trajectories based on the errors.

5. The method of claim 1 wherein the control law further incorporates an estimate of a gravitational torque.

6. The method of claim 1 wherein each of the generated torque commands controls a joint of the articulated system independently of the other torque commands, and wherein the control law comprises an identity matrix and a plurality of constant diagonal feedback gain matrices.

7. The method of claim 1 wherein the constraints include singularities arising from limitations of performing tasks due to insufficient degrees of freedom for executing the tasks.

8. The method of claim 1 wherein the constraints include singularities arising from the generation of the torque commands.

9. The method of claim 1 wherein the articulated system is a human model.

10. The method of claim 1 wherein the articulated system is a robot.

11. The method of claim 1 wherein the articulated system is a exoskeleton apparatus.

12. The method of claim 1 wherein enforcing constraints includes:

modulating time between sample times of generating torque commands if the movement of a member of the articulated system has a velocity above a threshold.

13. The method of claim 1 wherein constructing the weighted matrix includes:

prioritizing tasks.

14. The method of claim 1 wherein the source motion comprises human features obtained from images or data.

15. The method of claim 1 wherein determining the reference joint space trajectories comprises determining a position error and an orientation error between a previously determined reference joint space trajectory and the tracked motion of the source system.

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

an input for determining a plurality of articulated joint space trajectories based on a sensed motion information of the members of the articulated system;

a tracking system for 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;

a constraint system for 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;

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

an estimate of a joint space inertia matrix;

an estimate of Coriolis and centripetal torques;

an estimate of a gravitational torque;

an estimate of a friction torque; and

a plurality of constant diagonal feedback gain matrices, at least one of the constant diagonal feedback gain matrices based on the joint velocity vector.

17. A method for controlling movement of members of an articulated system, the method comprising:

determining a plurality of articulated joint space trajectories based on a 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;

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

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

an estimate of a joint space inertia matrix;

an estimate of Coriolis and centripetal torques;

an estimate of a gravitational torque;

an estimate of a friction torque; and

a reference joint space acceleration based on the joint velocity vector.

18. The method of claim 17 further comprising:

generating a balance control command based on the articulated joint space trajectories, wherein the determination of the reference joint space acceleration is further based on the balance control command.