JPH04271734A - Method for training animal - Google Patents

Abstract

PURPOSE:To readily carry out training of an animal by analyzing basic behavior of the actual animal using a computer, inputting the analyzed data and developing new behavior according to dynamics. CONSTITUTION:The body of an animal such as a dog or horse is resolved into parts to be the minimum units of movement to prepare an animal model based on constraints such as properties essential to the respective parts, mutual relation and movement range of joints and inputted to a database. The actual behavior of the animal is then inputted and antidynamics is applied to make calculation. Force and torque acting on the centroids of the respective parts, the whole centroid and joints are calculated. Data of the aforementioned basic behavior, data of the actual behavior and data of analytical results are subsequently inputted to the database to calculate new movement. Furthermore, physical constraints of mutual coupling relation and the movement range of the joints are checked based on the results of the calculation and corrected to display the movement of the animal on a screen. Thereby, training or development of the animal behavior is readily performed.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an animal training method, and more particularly to an animal training method in which the animal is trained by analyzing the motion to be trained.

[Conventional technology]

[0002] In order to train animals such as dogs and horses, it is necessary to analyze the movements to be trained and create a training method. In the past, trainers observed the movements of animals that were learning the movements and created training programs based on the results of their observations. This observation was made by humans and was therefore subjective and insufficient.

[0003] Recently, it has been carried out to analyze the movements of animals using computers, and to train the animals or develop new movements based on the results. This analysis using a computer cannot be said to be reliable because the underlying data is based on the subjectivity of the analyst. In addition, since the analysis is performed using kinematics that uses only position, velocity, and acceleration, the only thing that can be analyzed using this method and displayed on the screen is a line drawing (line drawing) that represents the parts that make up the animal body.・Picture) only, and it is not possible to flesh out the animal body three-dimensionally and display it on the lil. Therefore, not only is it difficult to understand the displayed content, but the action content tends to be irrational, and it is difficult to develop new actions.

[0004]Also, although a method that responds in real time using an easy-to-use interactive format is suitable for analyzing skills and developing new skills using a computer, conventional methods do not allow for confirmation of the operation content and for developing new skills. Because it requires fine-tuning based on the results, it was not possible to do it interactively in real time.

In addition to kinematics, which uses position, velocity, and acceleration as a method for discussing the motion of an object, there is a method called dynamics that discusses the motion of an object in relation to force, and this method is used for motion analysis using computers. Complex movements can be analyzed with a few operations. However, motion analysis using dynamics requires data such as moment of inertia, center of gravity, joint friction, elasticity of muscles/ligaments, etc., which are difficult to measure. This results in unreasonable results. In addition, it is necessary to solve dynamic equations, which are relatively time-consuming.

[0006] Conventional dynamic motion analysis using a computer is as follows: 1. Create an animal model 2. Input the actual movements of the animal 3. Analyze the input motion 4. It consists of four stages of reproducing the analyzed behavior.

[0007] At the stage of expressing the analyzed motion, it is sufficient to precisely solve the dynamic equation, but in this method, n is the number of parts constituting the animal body, which is the smallest unit of motion in the motion analysis. If the amount of calculation O(f(n)) is n
It is a function of 4, O(n4), which requires a large amount of calculation and takes a long time to calculate, making calculation by computer expensive.

On the other hand, a method has been proposed in which the amount of calculation is a function O(n) of n by ignoring the rotation of the joint around the axis. Only line drawings (line pictures) that represent the parts that make up the animal body can be used, and this method cannot be used if the rotation of the joints around the axis cannot be ignored. . Therefore, even with this method, it is not possible to flesh out the animal body three-dimensionally and display it realistically.

[0009]

[Problems to be Solved by the Invention] The present invention provides an animal training method that allows the analysis of animal movements in an interactive manner using a computer and the development of new movements without relying on trial and error or the intuition of an analyst. The challenge is to provide this information.

0010

[Means for Solving the Problems] In order to solve the above problems, the animal training method of the present invention first analyzes the basic movements of the animal body, and analyzes the movements including the forces and torques generated at each joint. input the data of the target parameters into the database as basic knowledge.

[0011] When analyzing a motion, film frames or video image frames taken from multiple directions are analyzed using database data, and each of the moving objects is analyzed with respect to the motion. Calculates and displays the force and torque generated in the joints of

[0012] When developing a new motion, the database is accessed and the data is processed. In this case, the computer trains the constraint conditions in the form of constrained movements and the results of inverse dynamics in the form of forces in real time. New movements are developed interactively by providing feedback to the user and repeating this process until a satisfactory result is obtained.

The amount of calculation for this animal training method is a function of n (O(
n), which solves the problem of expensive computer calculations. In addition, without relying on trial and error or the trainer's intuition, it is possible to express smoothly fleshed-out, three-dimensional, and realistic movements of the animal body through an interactive format that is not a line drawing.

[0014]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a flowchart of the present invention.
This flowchart is 1. Create an animal model 2. Enter the actual action 3. Analyze the input motion 4. Development of new movements 5. Apply dynamics6. Apply constraints7. Apply inverse dynamics8. It consists of each stage of displaying the results.

In the first step, ``creating an animal model,'' the animal's body is broken down into parts that are the smallest unit of movement, and constraints such as the unique properties of each part, their mutual relationships, and the range of movement of joints are determined. An animal model is created based on the conditions and entered into a computer as a database.

In the second step, ``input actual motion,'' the motion to be analyzed is input frame by frame of a video image or frame by frame of a film image.In this case, images taken simultaneously from multiple directions are used. For example, the next stage of analysis can be performed more specifically.

In the third step, ``Analyze the input motion,'' the motion input in the second step is calculated using inverse dynamics, and the center of gravity of each member, the force and torque acting on each joint, and the overall Calculate the center of gravity, the force and torque acting on the center of gravity.

If only the motion is to be analyzed, the center of gravity of each member obtained in the third step, the force and torque acting on each joint, the center of gravity of the whole, the force and torque acting on the center of gravity of the whole can be entered in the database using arrows, etc. It is displayed on the screen superimposed on the animal model. In this way, the motion is analyzed.

Next, a case will be described in which a new motion is developed using the above analysis results. In order to develop new movements, first stage animal model data,
The actual motion data obtained in the second stage and the analysis result data obtained in the third stage are input into the database.

In the fourth stage, ``development of new operations,'' the developer first selects basic operations from the database. This movement is represented by a control graph created based on the movement database as shown in Figure 2. In this control graph, the horizontal axis is time, and the vertical axis is the force generated at each joint of the body, x, It is expressed about three axes, y and z. Note that, as a matter of course, two forces generated at the same joint have the same magnitude and opposite direction.

[0021] Also, complex operations are represented by several control graphs. For example, a control graph representing the motion of a stationary horse starting to run is constructed by combining consecutive motions.

Next, for all parts of the animal's body where force is generated, the physical variables are changed all at once, including the expansion/reduction of the horizontal and vertical axes of the control graph. Make a partial change that changes a physical variable such as a force generated in a part.

[0023] In the fifth stage, “applying dynamics,”
The motion of each part is calculated based on the forces specified by the developer and the dynamic equations governing the movement of each part. In that case, as shown in Figure 3(a), each part of the body is originally in a connection relationship with each other, but in order to reduce the amount of calculation (b
), each part of the body is separated from the other parts, and the constraints regarding the mutual connection of each part of the animal body and the range of motion of the joints are also temporarily ignored.

In order to calculate the movement of each part, in the motion analysis of the present invention, Newton's equation is used to find the linear acceleration of the center of gravity, and Euler's equation is used to find the angular acceleration of the center of gravity. Once the angular acceleration is obtained, these are integrated to find the velocity, and further integrated to find the position.

[0025] In the seventh step, ``Apply Constraints'', two physical constraint conditions are checked for the calculation results of the movements of each part: the mutual connection of each part of the animal body, and the range of movement of the joints. . The process starts with the basics,
The position and arrangement direction of each lower part are checked in sequence. Here, two checks are performed: whether the lower part is always connected to the upper part, and whether the motion of each joint exceeds a predetermined range.

As a result, if the lower part is not connected to the upper part as shown in FIG. 4(a), the lower part is moved in parallel so that the lower part is connected to the upper part. If the movement of an individual joint exceeds a certain range, the movement of that joint is adjusted to be within the range by rotation, and the posture is corrected to a natural posture as shown in (b).

In the seventh step, ``applying inverse dynamics,'' the force occurring at each joint of the body is calculated using Lagrange's equation, which expresses the relationship between force and motion.

If a satisfactory result is not obtained when developing a new motion, the process from step 5 to step 7 is repeated to develop a new motion in an interactive manner.

In the eighth step, ``display results,'' new operations that are being developed or have been developed are displayed on the screen. At that time, the position of the center of gravity of the animal body displayed and the direction of the force being generated can be synthesized and displayed on the animal body, and in this way, the displayed movement can be displayed more specifically. Can be done. Furthermore, it is also possible to display the results of the third stage of "analyzing the input motion" on this display.

Since the present invention uses a simple linear regression algorithm as shown in FIG. 1, the amount of calculation for performing inverse dynamics is O(n), which is a function of n.

[0031] Inverse dynamics allows one to obtain rational and complete force combinations. Also, it is impossible for developers to find the perfect force development except by inverse dynamics. In the present invention, the individual alignment directions of the body parts change beyond the limits of their joints, and the individual positions of each body member are adapted to meet the physical constraints of the body.

The animal movements obtained in this way are natural, with the lower parts of the animal's body always connected to the upper parts, and the movements of individual joints do not exceed the predetermined range. From there, you can flesh it out and create a three-dimensional, realistic display.

Furthermore, the present invention allows new skills to be developed interactively using a computer without relying on trial and error or the developer's intuition.

[0034]

As explained above, the animal training method of the present invention consists of two processes: analyzing the basic motions of actual animals and developing new motions. Analysis of basic animal movements proceeds in three stages: creation of an animal body model, input of actual movements, and analysis of the input movements.Development of new movements involves the application of dynamics, application of constraints, and Proceed through three stages of application of inverse dynamics. At the stage of applying dynamics, the animal body is divided into independent parts separated by joints, and the movement of each part is calculated separately from the movement of other parts using Newton's equation and Euler's equation. . At the stage of applying constraints, the mutual coupling relationships of body parts and the range of movement of joints are checked. At the stage of applying inverse dynamics, the forces that produce the new motion modified by the constraints are calculated. The total amount of calculation in that case is O(n).

Therefore, the method of the present invention solves the calculation problems of the conventional computer-based methods using dynamics, makes it possible to successfully apply dynamics to actual animal training, and improves the use of dynamics. Now you can get real-time feedback.

Then, in order to calculate the movement of each part of the animal body, the linear acceleration of the center of gravity is calculated using Newton's equation,
Since the angular acceleration of the center of gravity is determined using Euler's equation, it is possible to determine and display the position of the center of gravity of each member of the body and the force applied to that center of gravity, and similarly, the position of the entire center of gravity and its The force applied to the center of gravity can also be determined and displayed. In other words, the position of the center of gravity, which can be said to be the key to movement,
Since the direction and magnitude of the force can be displayed, it is possible to easily train the animal.

Furthermore, it is possible to display a three-dimensional moving object that is not a line drawing but is smoothly fleshed out.

In addition, the trainer can view the model animal from various viewpoints on the display screen, and can interactively translate and rotate body parts. Therefore, the analyst can accurately grasp the correspondence between the picture and the model animal.

Knowledge in conventional animal training methods includes basic data on the movement of the animal body and constraints that define the range of movement of each joint, but this knowledge is obtained through the intuition of the analyst. In contrast, the knowledge in the motion analysis method of the present invention refers to actual dynamic parameters obtained by analyzing actual human movements. Therefore, movements made from this knowledge are scientific, reliable, and can produce realistic movements.

[0040] Recently, object-oriented models have been used in various fields, and according to the object-oriented method, the user interface becomes a direct operation model. In this direct manipulation model, the image displayed on the screen reacts to the object, so if the skill analysis method of the present invention is used, the object can be directly handled and manipulated in the object space.

[Brief explanation of the drawing]

[Figure 1] Flowchart of animal training method

[Figure 2] Control graph of example of force acting on joints

[Figure 3] Schematic diagram of calculation using dynamics

[Figure 4] Schematic diagram of calculation using inverse dynamics

Claims (2)

[Claims] Claim 1. An animal training method in which a trainer develops new training movements using a computer, the method comprising:
breaking down the animal's body into parts that are the smallest units of movement, creating an animal model based on constraints such as the unique properties of each of these parts, their mutual relationships, and the range of movement of joints, and inputting it into a database; There is a stage where the actual motion of the animal is input, and the input motion is calculated by applying inverse dynamics to calculate the force and torque acting on the center of gravity and each joint of each part, and the force and torque acting on the center of gravity and center of gravity of the whole. a step of calculating, a step of selecting a basic motion from the database and changing its physical variables, and a step of separating each part of the body from other parts, and determining the actual motion based on the interconnection relationship and the range of joint movement. A step of calculating a new movement based only on the specified force and dynamic equations, ignoring constraints related to An animal training method comprising the steps of: displaying the animal's movements on a screen using the calculated results. 2. An animal training method in which a trainer develops new training movements using a computer, the method comprising:
breaking down the animal's body into parts that are the smallest units of movement, creating an animal model based on constraints such as the unique properties of each of these parts, their mutual relationships, and the range of movement of joints, and inputting it into a database; There is a stage where the actual motion of the animal is input, and the input motion is calculated by applying inverse dynamics to calculate the force and torque acting on the center of gravity and each joint of each part, and the force and torque acting on the center of gravity and center of gravity of the whole. a step of calculating, a step of selecting a basic motion from the database and changing its physical variables, and a step of separating each part of the body from other parts, and determining the actual motion based on the interconnection relationship and the range of joint movement. A step of calculating a new movement based only on the specified force and dynamic equations, ignoring constraints related to a step of calculating the relationship between force and motion by applying inverse dynamics; and a step of synthesizing the movement calculated by the dynamics, the force and center of gravity calculated by inverse dynamics, and displaying it on the screen. An animal training method characterized by: