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US 2010/0250001 A1Published application
Systems and methods for tracking and balancing robots for imitating motion capture data
AssigneeDisney Enterprises, Inc.
InventorsJessica K. Hodgins, Katsu Yamane
Life of this patent
Estimating the term…
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.
Claims20
A mechanical artificial agent comprising:
- a plurality of moving parts being joined via a plurality of joints;
- 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.
4 more elements
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;
- 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.
1 more element
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 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.
4 more elements
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 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.
2 more elements
Dependencies are inferred from the claim text.