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US 2007/0162164 A1Published application
Reconstruction, Retargetting, Tracking, And Estimation Of Pose Of Articulated Systems
AssigneeHonda Motor Co., Ltd.
InventorBehzad Dariush
Life of this patent
Estimating the term…
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.
Claims16
A method for estimating the pose of an articulated system, the method comprising:
- observing a plurality of task descriptors for position of members of a source system;
- and
- generating joint variables for positioning of members of the articulated system, in response to the observed task descriptors, the number of task descriptors being less than the degrees of freedom of movement of the source system.
A system for positioning an articulated system, the system comprising:
- a first control system for observing a plurality of task descriptors for position of members of a source system;
- and
- a second control system for generating joint variables for positioning of members of the articulated system, in response to the observed task descriptors, the number of task descriptors being less than the degrees of freedom of movement of the source system.
A method for controlling the positioning of members of an articulated system, the method comprising:
- tracking positions of a source system;
- generating constraints on positions of the members of the articulated system;
- and
- generating commands for controlling position of the members of the articulated system in response to the tracking position and the constraints.
1 more element
A method for controlling the positioning of members of an articulated system, the method comprising:
- tracking positions of a source system;
- generating constraints on positions of the members of the articulated system;
- and
- estimating forces for maintaining position of the members of the articulated system in response to the tracking position and the constraints;
- estimating torques for maintaining position of the members of the articulated system in response to the tracking position, estimated forces and the constraints.
2 more elements
Dependencies are inferred from the claim text.