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US 7,859,540 B2Granted
Reconstruction, retargetting, tracking, and estimation of motion for 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.
Claims33
A method, implemented by a computer, for controlling the movement of members of a physical articulated system, the method comprising:
- capturing data which describes tracked motion of a source system which is separate from the physical articulated system;
- enforcing constraints on movement of the members of the physical articulated system;
- and
- generating commands for moving the members of the physical articulated system to track the tracked motion of the source system described in the captured data by applying the constraints on movement of the members of the physical articulated system to the captured data describing the tracked motion of the source system;
- and
- storing the commands in a computer-readable storage medium.
3 more elements
A system for controlling the movement of members of a physical articulated system, the system comprising:
- a tracking system for capturing data which describes tracked motion of a source system which is separate from the physical articulated system;
- a constraint system coupled to the tracking system and to the physical articulated system, the constraint system for enforcing constraints on movement of the members of the physical articulated system;
- and
- a control system coupled to the tracking system, the constraint system and the physical articulated system, the control system for generating commands for moving the members of the physical articulated system to track the tracked motion of the source system described in the captured data by applying the constraints on movement of the members of the physical articulated system to the captured data describing the tracked motion of the source system.
1 more element
A method, implemented by a computer, of tracking motion of a human by a physical articulated system which is separate from the human, 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 a command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables;
- adjusting the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables by applying constraints describing physical limitations of the physical articulated system for performing motions to the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables;
- and
- storing the adjusted command in a computer-readable storage medium.
3 more elements
A system of tracking motion of a human by a physical articulated system which is separate from the human, the system comprising:
- a first control system for assigning task variables to portions of the human;
- a second control system coupled to the first control system, the second control system for detecting motion of the portions of the human represented by the task variables;
- a third control system coupled to the second control system, the third control system for generating a command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables;
- a fourth control system coupled to the third control system, the fourth control system for adjusting the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables by applying constraints describing physical limitations of the physical articulated system for performing motions to the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables.
1 more element
A method, implemented by a computer, of tracking motion of a human by a physical articulated system which is separate from the human, the method comprising:
- assigning task variables to portions of the human;
- capturing data describing detected motion of the portions of the human represented by the task variables;
- generating a command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables;
- adjusting the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables based on a preference of task variables associated with portions of the physical articulated system for performing motions;
- and
- storing the command for the physical articulated system to track replicate the detected motion of the portions of the human represented by the task variables in a computer-readable storage medium.
3 more elements
A system of tracking motion of a human by a physical articulated system which is separate from the human, the system comprising:
- a first control system for assigning task variables to portions of the human;
- a second control system coupled to the first control system, the second control system for capturing data describing detected motion of the portions of the human representing by the task variables;
- a third control system coupled to the second control system, the third control system for generating a command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables;
- a fourth control system coupled to the third control system, the fourth control system for adjusting the command for the physical articulated system to track the detected motion of the portions of the human represented by the task variables based on a preference of task variables associated with portions of the physical articulated system for performing motions.
1 more element
A method, implemented by a computer, for controlling the movement of members of a physical articulated system which is separate from a source system human, the method comprising:
- capturing data which describes tracked motion of the source system;
- generating constraints on movement of the members of the physical articulated system;
- estimating forces for controlling movement of the members of the physical articulated system to track the tracked motion of the source system described in the captured data by applying the constraints to the captured data describing the tracked motion of the source system;
- estimating torques for controlling movement of the members of the physical articulated system to track the tracked motion of the source system described in the captured data based on the captured data, the estimated forces and the constraints;
- and
- storing the estimated torques in a computer-readable storage medium.
3 more elements
A method, implemented by a computer, for retargetting motion of an object to a physical articulated system which is separate from the object, the method comprising:
- generating a plurality of task descriptors for motion of the object;
- generating joint variables describing movement of members of the physical articulated system to track the motion of the object associated with the task descriptors, wherein a number of dimensions of the task descriptors does not equal a number of degrees of freedom of movement of the object;
- and
- storing the joint variables for movement of members of the physical articulated system in a computer-readable storage medium.
1 more element
Dependencies are inferred from the claim text.