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US 8,924,021 B2Granted
Control of robots from human motion descriptors
AssigneeHonda Motor Co., Ltd.
InventorsBehzad Dariush, Bing Jian
Life of this patent
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Abstract
A control system and method generate torque comments for motion 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 as replicated by the target system.
Claims18
A method for controlling movement of members of an articulated system, the method comprising:
- determining a plurality of articulated joint space trajectories based on r sensed motion information of the members of the articulated system;
- determining a plurality of reference joint space trajectories based on a tracked motion of a source system, wherein the reference joint space trajectories are determined independently from the articulated joint space trajectories;
- constructing a weighted matrix based on constraints on movement of the members of the articulated system, the reference joint space trajectories, and the articulated joint space trajectories;
- and
- determining a joint velocity vector based on the weighted matrix, the reference joint space trajectories, and the articulated joint space trajectories;
- generating torque commands that control movement of the members of the articulated system while enforcing constraints on movement of the members by a control law incorporating:
- a first constant diagonal feedback gain matrix based on the joint velocity vector, a second constant diagonal feedback gain matrix based on the reference joint space trajectories and the articulated joint space trajectories, and a third constant diagonal feedback gain matrix.
4 more elements
A system for controlling movement of members of an articulated system, the system comprising:
- an input for determining a plurality of articulated joint space trajectories based on a sensed motion information of the members of the articulated system;
- a tracking system for determining a plurality of reference joint space trajectories based on a tracked motion of a source system, wherein the reference joint space trajectories are determined independently from the articulated joint space trajectories;
- a constraint system for constructing a weighted matrix based on constraints on movement of the members of the articulated system, the reference joint space trajectories, and the articulated joint space trajectories;
- and
- determining a joint velocity vector based on the weighted matrix, the reference joint space trajectories, and the articulated joint space trajectories;
- a control system for generating torque commands that control movement of the members of the articulated system while enforcing constraints on movement of the members by applying a control law incorporating:
- an estimate of a joint space inertia matrix;
- an estimate of Coriolis and centripetal torques;
- an estimate of a gravitational torque;
- an estimate of a friction torque;
- and a plurality of constant diagonal feedback gain matrices, at least one of the constant diagonal feedback gain matrices based on the joint velocity vector.
8 more elements
A method for controlling movement of members of an articulated system, the method comprising:
- determining a plurality of articulated joint space trajectories based on a sensed motion information of the members of the articulated system;
- determining a plurality of reference joint space trajectories based on a tracked motion of a source system, wherein the reference joint space trajectories are determined independently from the articulated joint space trajectories;
- constructing a weighted matrix based on constraints on movement of the members of the articulated system, the reference joint space trajectories and the articulated joint space trajectories;
- determining a joint velocity vector based on the weighted matrix, the reference joint space trajectories and the articulated joint space trajectories;
- and generating torque commands that control movement of the members of the articulated system while enforcing constraints on movement of the members by applying a control law incorporating:
- an estimate of a joint space inertia matrix;
- an estimate of Coriolis and centripetal torques;
- an estimate of a gravitational torque;
- an estimate of a friction torque;
- and a reference joint space acceleration based on the joint velocity vector.
7 more elements
Dependencies are inferred from the claim text.