Method for generating a motion of a human type link system

• US 20030220714A1
• Filed: 02/10/2003
• Published: 11/27/2003
• Est. Priority Date: 02/12/2002
• Status: Active Grant

• Current Assignee: University of Tokyo
• Original Assignee: University of Tokyo
• Inventors: Yamane, Katsu, Nakamura, Yoshihiko, Tange, Manabu
• Granted Patent: US 7,136,722 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G05B 2219/39323 Force and motion control
• CPC Class Codes: G05B 2219/40316 Simulation of human-like robot joint, restricted 3-D motion
• CPC Class Codes: G05B 2219/40517 Constraint motion planning, variational dynamic programming
• CPC Class Codes: G06T 13/40 of characters, e.g. humans, animals or virtual beings

Abstract

This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.

Claims

1. A method for generating a motion in a human type link system, wherein,

dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematic constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation.

2. A method for generating a motion in a human type link system, wherein,

dynamically feasible motion of the link system is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.