Apparatuses and methods for classifying and/or controlling motion of an actuator
AssigneeSony Group Corporation
InventorsThomas VAN DE WIEL, Seyed Sina Mirrazavi SALEHIAN, Mireille EL GHECHE
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Abstract
The present disclosure relates to a concept for classifying and/or controlling motion of an actuator. The concept is based on classifying potential motion states (90) located within motion limits of the actuator as safe or unsafe based on one or more potential motion trajectories and motion state constraints. Then, a current motion state of the actuator may be determined, and the actuator may be controlled based on the actuator's current motion state and a grid of motion states (100) classified as safe or unsafe.
Claims20
A method for controlling an actuator, comprising
- classifying potential motion states located within motion limits of the actuator as safe or unsafe based on one or more potential motion trajectories and motion state constraints;
- determining a current motion state of the actuator;
- and
- controlling the actuator based on the actuator's current motion state and a grid of potential motion states classified as safe or unsafe.
An apparatus for controlling an actuator, comprising circuitry configured to
- classify potential motion states located within motion limits of the actuator as safe or unsafe based on one or more potential motion trajectories and motion state constraints;
- determine a current motion state of the actuator;
- and
- control the actuator based on the actuator's current motion state and a grid of potential motion states classified as safe or unsafe.
Dependencies are inferred from the claim text.