Systems and methods for tracking and balancing robots for imitating motion capture data
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.
1. 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 kinematic mapping module and a dynamic mapping module configured to process input reference motion;
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 the 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; and
wherein the dynamic mapping module is configured to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
2. The mechanical artificial agent according to claim 1 , wherein the motion commands comprise joint torques.
3. The mechanical artificial agent according to claim 1 , wherein the mechanical artificial agent is a humanoid robot.
4. The mechanical artificial agent according to claim 3 , wherein the plurality of moving parts comprises a body portion of the humanoid robot having one or more moving lower body parts, and further wherein the balancing control signal is consistent with a whole body balancing model.
5. The mechanical artificial agent according to claim 1 , wherein the reference motion further comprises one or more data inputs derived from a motion capture system.
6. The mechanical artificial agent according to claim 5 , wherein the reference motion further comprises one or more stepping motions.
7. The mechanical artificial agent according to claim 1 , wherein the kinematic mapping module is configured to use one or more current contact locations of the mechanical artificial agent to modify one or more of a trunk trajectory and one or more joint trajectories such that a kinematic relationship between one or more contact locations and the body of the mechanical artificial agent tracks the reference motion.
8. A method comprising:
receiving input data corresponding to reference motion;
utilizing a kinematic mapping module and a dynamic mapping module to process the 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; and
using the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
9. The method according to claim 8 , wherein the motion commands comprise joint torques.
10. The method according to claim 8 , wherein the mechanical artificial agent is a humanoid robot.
11. The method according to claim 10 , wherein the humanoid robot comprises a body portion having one or more moving lower body parts, and further wherein the balancing control signal is consistent with a whole body balancing model.
12. The method according to claim 8 , wherein the reference motion further comprises one or more data inputs derived from a motion capture system.
13. The method according to claim 12 , wherein the reference motion further comprises one or more stepping motions.
14. The method according to claim 8 , further comprising using the kinematic mapping module to modify one or more of a trunk trajectory and one or more joint trajectories such that a kinematic relationship between one or more contact locations and the body of the mechanical artificial agent tracks the reference motion.
15. 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 receive input data corresponding to reference motion;
computer readable program code configured to utilize a kinematic mapping module and a dynamic mapping module to process the input data corresponding to reference motion;
computer readable program code configured to provide a balancing control signal; 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; and
computer readable program code configured to use the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.
16. 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 receive input data corresponding to reference motion;
computer readable program code configured to utilize a kinematic mapping module and a dynamic mapping module to process the input data corresponding to reference motion;
computer readable program code configured to provide a balancing control signal;
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; and
computer readable program code configured to use the dynamic mapping module to modify a reference center of gravity trajectory of the mechanical artificial agent to maintain a center of pressure inside a contact convex hull of the mechanical artificial agent while tracking the reference motion.