Reconstruction, Retargetting, Tracking, And Estimation Of Motion For Articulated Systems
AssigneeHonda Motor Co., Ltd.
InventorBehzad Dariush
Life of this patent
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Abstract
A control system and method generate joint variables for motion or posing 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 or posing as replicated by the target system.
Claims33
A method for controlling the movement of members of an articulated system, the method comprising:
- tracking motion of a source system;
- enforcing constraints on movement of the members of the articulated system;
- and
- generating commands for controlling movement of the members of the articulated system in response to the tracking motion and the constraints.
A system for controlling the movement of members of an articulated system, the system comprising:
- a tracking system for tracking motion of a source system;
- a constraint system for enforcing constraints on movement of the members of the articulated system;
- and
- a control system for generating commands for controlling movement of the members of the articulated system in response to the tracking motion and the constraints.
A method of tracking motion of a human for replication by an articulated system, the method comprising:
- assigning task variables to portions of the human;
- detecting motion of the portions of the human represented by the task variables;
- generating command for the articulated system to replicate motion of the human;
- adjusting the commands for the replication motion in response to physical limitations of the articulated system for performing motions.
A system of tracking motion of a human for replication by an articulated system, the system comprising:
- a first control system for assigning task variables to portions of the human;
- a second control system for detecting motion of the portions of the human represented by the task variables;
- a third control system generating command for the articulated system to replicate motion of the human;
- a fourth control system adjusting the commands for the replication motion in response to physical limitations of the articulated system for performing motions.
A method of tracking motion of a human for replication by an articulated system, the method comprising:
- assigning task variables to portions of the human;
- detecting motion of the portions of the human represented by the task variables;
- generating command for the articulated system to replicate motion of the human;
- adjusting the commands for the replication motion in response to a preference of task variables of the articulated system for performing motions.
A system of tracking motion of a human for replication by an articulated system, the system comprising:
- a first control system for assigning task variables to portions of the human;
- a second control system detecting motion of the portions of the human representing by the task variables;
- a third control system for generating command for the articulated system to replicate motion of the human;
- a fourth control system for adjusting the commands for the replication motion in response to a preference of task variables of the articulated system for performing motions.
A method for controlling the movement of members of an articulated system, the method comprising:
- tracking motion of a source system;
- generating constraints on movement of the members of the articulated system;
- estimating forces for controlling movement of the members of the articulated system in response to the tracking position and the constraints;
- and
- estimating torques for controlling movement of the members of the articulated system in response to the tracking motion, estimated forces and the constraints
A method for retargetting motion of an object to an articulated system, the method comprising:
- generating a plurality of task descriptors for motion of the object;
- and
- generating joint variables for movement of members of the articulated system in response to the task descriptors, the dimension of task descriptors may be different than the number of degrees of freedom of movement of the object.
Dependencies are inferred from the claim text.