Systems and methods for tracking and balancing robots for imitating motion capture data

• US 9,389,598 B2
• Filed: 06/25/2014
• Issued: 07/12/2016
• Est. Priority Date: 03/24/2009
• Status: Active Grant

• Current Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Original Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Hodgins, Jessica K., Yamane, Katsu
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US14/314,609
• Publication Number:
  US 20140309781A1
• Time in Patent Office: 748 Days
• Field of Search: 700/250, 700/245, 700/255, 700/246, 700/261, 700/258, 700/251, 700/253, 700/260, 700/180, 700/65.1, 700/65.51, 318/568.1, 318/568.12, 318/568.23, 901/1, 901/45, 901/46, 901/2, 901/19, 180/65.1
• US Class Current: 1/1
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G05B 11/32 with inputs from more than one sensing element; with outputs to more than one correcting element
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: Y10S 901/01 Mobile robot

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.

Claims

1. A mechanical artificial agent comprising:

a plurality of moving parts being joined via a plurality of joints, the plurality of moving parts including upper and lower moving body parts; and

a controller configured to control motion of the plurality of moving parts, the controller comprising;

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 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.

2. The mechanical artificial agent according to claim 1, wherein the motion commands comprise joint torques.

3. The mechanical artificial agent according to claim 1, wherein the mechanical artificial agent is a humanoid robot.

4. The mechanical artificial agent according to claim 3, wherein the plurality of moving parts comprises a body portion of the humanoid robot having one or more moving lower body parts, and further wherein the balancing control signal is consistent with a whole body balancing model.

5. The mechanical artificial agent according to claim 1, wherein the reference motion further comprises one or more data inputs derived from a motion capture system.

6. The mechanical artificial agent according to claim 5, wherein the reference motion further comprises one or more stepping motions.

7. The mechanical artificial agent according to claim 4, wherein the controller further comprises:

a kinematic mapping module; and

a dynamic mapping module.

8. The mechanical artificial agent according to claim 7, wherein the kinematic mapping module is configured to use one or more current contact locations of the mechanical artificial agent to modify one or more of a trunk trajectory and one or more joint trajectories such that a kinematic relationship between one or more contact locations and the body of the mechanical artificial agent tracks the reference motion.

9. The mechanical artificial agent according to claim 7, wherein the dynamic mapping module is configured to modifying a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the of the mechanical artificial agent while tracking the reference motion.

10. A method comprising:

receiving 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, the plurality of moving parts including upper and lower moving body parts;

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.

11. The method according to claim 10, wherein the motion commands comprise joint torques.

12. The method according to claim 10, wherein the mechanical artificial agent is a humanoid robot.

13. The method according to claim 12, wherein the humanoid robot comprises a body portion having one or more moving lower body parts, and further wherein the balancing control signal is consistent with a whole body balancing model.

14. The method according to claim 10, wherein the reference motion further comprises one or more data inputs derived from a motion capture system.

15. The method according to claim 14, wherein the reference motion further comprises one or more stepping motions.

16. The method according to claim 10, further comprising utilizing a kinematic mapping module and a dynamic mapping module to preprocess the input data corresponding to reference motion.

17. The method according to claim 16, further comprising using the kinematic mapping module to modify one or more of a trunk trajectory and one or more joint trajectories such that a kinematic relationship between one or more contact locations and the body of the mechanical artificial agent tracks the reference motion.

18. The method according to claim 16, further comprising using the dynamic mapping module to modifying a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the of the mechanical artificial agent while tracking the reference motion.

19. An apparatus comprising:

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 plurality of moving parts including upper and lower moving body parts, the computer readable program code being executable by the one or more processors and comprising;

computer readable program code configured to provide a balancing control signal; and

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.

20. A computer program product comprising:

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 plurality of moving parts including upper and lower moving body parts, the computer readable program code being executable by one or more processors and comprising;

computer readable program code configured to provide a balancing control signal; and

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.