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US 8,467,904 B2Granted
Reconstruction, retargetting, tracking, and estimation of pose of 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.
Claims16
A computer-implemented method for controlling the pose of a physical articulated system, the method comprising:
- observing a plurality of task descriptors for a position and an orientation of members of a source system comprising human features observed from images of human motion;
- generating a position error between a computed position and the position of the members of the source system;
- generating an orientation error between a computed orientation and the orientation of the members of the source system;
- generating, using a non-transitory computer readable storage medium, a control command according to a control law based on the position error, orientation error, and kinematic constraints;
- constructing, using the non-transitory computer readable storage medium, a weighted matrix based on the generated control command and the kinematic constraints of members of the physical articulated system;
- generating, using the non-transitory computer readable storage medium, joint variables for positioning and orienting the members of the physical articulated system while enforcing the kinematic constraints of the members by applying the weighted matrix to the observed task descriptors, the number of task descriptors being less than a degrees of freedom of movement of the source system;
- and
- storing the generated joint variables in the non-transitory computer readable storage medium.
5 more elements
A system for positioning a physical articulated system, the system comprising:
- a first control system for observing a plurality of task descriptors for a position and an orientation of members of a source system, comprising human features observed from images of human motion;
- a second control system for
- generating a position error between a computed position and the position of the members of the source system;
- generating an orientation error between a computed orientation and the orientation of the members of the source system;
- generating a control command according to a control law based on the position error, orientation error, and kinematic constraints;
- constructing a weighted matrix based on the generated control command and the kinematic constraints of members of the physical articulated system, and
- generating joint variables for positioning and orienting the members of the physical articulated system while enforcing the kinematic constraints of the members by applying the weighted matrix to the observed task descriptors, the number of task descriptors being less than a degrees of freedom of movement of the source system;
- and
- a non-transitory computer readable storage medium for storing the generated joint variables.
6 more elements
Dependencies are inferred from the claim text.