JP2011500349A5

JP2011500349A5 -

Info

Publication number: JP2011500349A5
Application number: JP2010531282A
Authority: JP
Filing date: 2008-10-24
Publication date: 2012-07-05
Anticipated expiration: 2028-10-24

Claims

A method of using a computer processor to avoid segmental collisions in an articulated system comprising:
The computer processor is
Controlling the movement of the segment in the direction of the object based on the generated joint movement;
Constructing a virtual surface surrounding the real surface of the body segment;
The virtual surface is
Having a plurality of virtual surface points,
Each of the plurality of virtual surface points is
At least a non-zero distance from the corresponding surface point on the actual surface of the body segment in the direction of the unit normal vector of the corresponding surface point;
The computer processor is
Monitoring the distance between the real surface and the unconnected structure;
Detecting that the disconnected structure has entered the virtual surface;
Determine a collision point on the actual surface of the body segment;
Determining a turning joint motion of the collision point that prevents the disconnected structure from penetrating deeper into the virtual surface ;
Changing the direction of the segment to the direction of the object based on the diverting joint movement without colliding with the disconnected structure;
A method characterized by that .

The imaginary surface is 3-dimensional virtual surface der Rukoto,
The method of claim 1, wherein:

The determination of the turning joint motion is
Determining the deflection movement of the collision point before Symbol unconnected structures are prevented from entering more deeply into the virtual surface,
Determining a turning joint motion of the collision point based on the turning motion of the collision point ;
The method of claim 1 further comprising:

The method according to claim 3, wherein the direction of the deflection movement of the collision point is a tangential direction of the real surface at the collision point.

The method according to claim 3, wherein the direction of the deflection movement of the collision point is a direction away from the disconnected structure.

The computer processor is
Receive feature point action descriptors,
Generating said generated articulated on the basis of the operation descriptor,
The method of claim 1, wherein the.

The motion descriptor describes a motion of a human body, the multi-joint system includes a humanoid robot, and the joint motion controls the humanoid robot to simulate the motion of the human body. The method according to claim 6.

The determination of the turning joint motion is
Determining a second diverting joint motion that changes the direction of the segment to the object direction while preventing the disconnected structure from penetrating further into the virtual surface;
Determining a redesign action descriptor of the feature point based on the second turning joint motion;
Determining the diversion joint motion based on the redesign motion descriptor;
The method of claim 6 comprising:

The method of claim 1, wherein the determination of the diversion joint movement includes determining the diversion joint movement by maintaining movement continuity during the diversion of the body segment using a blending function.

The method of claim 9, wherein the blending function is a sigmoid function.

The method of claim 1, wherein the diversion joint motion is determined using a Closed Loop Inverse Kinematics (CLIK) algorithm.

The disconnected structure comprises a second body segment in the articulated system;
The computer processor is
Determining a second turning articulation of the second body segment that prevents the second body segment from colliding with the body segment;
Avoiding a collision with the body segment by changing the direction of the second body segment based on the second turning joint movement;
The method of claim 1 further comprising:

A computer program that causes a computer to plot processor to avoid collision of body segments in an articulated system,
The computer program is
For the computer processor,
Controlling the movement of the segment in the direction of the object based on the generated joint movement;
Executing a process of constructing a virtual surface surrounding the real surface of the body segment;
The virtual surface is
Having a plurality of virtual surface points,
Each of the plurality of virtual surface points is
At least a non-zero distance from the corresponding surface point on the actual surface of the body segment in the direction of the unit normal vector of the corresponding surface point;
The computer program is
For the computer processor,
Monitoring the distance between the real surface and the unconnected structure;
Detecting that the disconnected structure has entered the virtual surface;
Determine a collision point on the actual surface of the body segment;
Determining a turning joint motion of the collision point that prevents the disconnected structure from penetrating deeper into the virtual surface ;
Performing a process of changing the direction of the body segment to the direction of the object based on the turning joint movement without colliding with the disconnected structure;
Computer program according to claim.

The imaginary surface is 3-dimensional virtual surface der Rukoto,
Wherein the computer program of claim 13.

The computer program is
For the computer processor,
Determining the deflection movement of the collision point before Symbol unconnected structures are prevented from entering more deeply into the virtual surface,
Performing a process of determining the turning joint movement of the collision point based on the turning movement of the collision point ;
Wherein the computer program of claim 13.

The direction of the deflection movement of the collision point, characterized in that said at the collision point is tangential of the real surface, the computer program of claim 15.

Direction deflection motion of the collision point, characterized in that a direction away from the non-connection structure, the computer program of claim 15.

The computer program is
For the computer processor,
Receive feature point action descriptors,
Possible to execute the process of generating the generated articulated on the basis of the operation descriptor,
Wherein the computer program of claim 13.

The motion descriptor describes a motion of a human body, the multi-joint system includes a humanoid robot, and the joint motion controls the humanoid robot to simulate the motion of the human body. to, computer program of claim 18.

The determination of the turning joint motion is
Determining a second diverting joint motion that changes the direction of the segment to the object direction while preventing the disconnected structure from penetrating further into the virtual surface;
Determining a redesign action descriptor of the feature point based on the second turning joint motion;
Determining the diversion joint motion based on the redesign motion descriptor;
Comprising computer program of claim 18.

The computer program product of claim 13, wherein determining the diversion joint movement includes determining the diversion joint movement by using a blending function to maintain movement continuity during the diversion of the segment. Mu.

Wherein the blending function is a sigmoid function, the computer program of claim 21.

Wherein the redirected joint motion, closed loop inverse kinematics (CLIK: Closed Loop Inverse Kinematics) characterized in that it is determined using the algorithm, computer program of claim 13.

The disconnected structure comprises a second body segment in the articulated system;
The computer program is
For the computer processor,
Determining a second turning articulation of the second body segment that prevents the second body segment from colliding with the body segment;
Avoiding a collision with the body segment by changing the direction of the second body segment based on the second turning joint movement;
Further comprising computer program of claim 13 that.

A system that avoids collision of body segments in an articulated system,
The system
Controlling the movement of the segment in the direction of the object based on the generated joint movement;
Constructing a virtual surface surrounding the real surface of the body segment;
Monitoring the distance between the real surface and the unconnected structure;
Detecting that the disconnected structure has entered the virtual surface;
Determine a collision point on the actual surface of the body segment;
Determining a turning joint motion of the collision point that prevents the disconnected structure from penetrating deeper into the virtual surface ;
The process of changing the direction of the body segment to the object direction based on the turning joint movement without colliding with the disconnected structure,
A computer-readable storage medium containing executable computer program code for the computer processor executes,
The computer processor executing the executable computer program code;
With
The virtual surface is
Having a plurality of virtual surface points,
Each of the plurality of virtual surface points is
Being at least a non-zero distance away from the corresponding surface point on the actual surface of the segment in the direction of the unit normal vector of the corresponding surface point;
A system characterized by

The virtual surface is a three-dimensional virtual surface ;
26. The system of claim 25, wherein:

The computer processor is
Determining the deflection movement of the collision point before Symbol unconnected structures are prevented from entering more deeply into the virtual surface,
Determining a turning joint motion of the collision point based on the turning motion of the collision point ;
26. The system of claim 25, further executing .

28. The system of claim 27, wherein the direction of deflection movement of the collision point is a tangential direction of the real surface at the collision point.

28. A system according to claim 27, characterized in that the direction of deflection movement of the collision point is away from the unconnected structure.

The computer processor is
Receive feature point action descriptors,
Generating said generated articulated on the basis of the operation descriptor,
Wherein the system of claim 25.

The motion descriptor describes a motion of a human body, the multi-joint system includes a humanoid robot, and the joint motion controls the humanoid robot to simulate the motion of the human body. The system of claim 30.

The determination of the turning joint motion is
Determining a second diverting joint motion that changes the direction of the segment to the object direction while preventing the disconnected structure from penetrating further into the virtual surface;
Determining a redesign action descriptor of the feature point based on the second turning joint motion;
Determining the diversion joint motion based on the redesign motion descriptor;
32. The system of claim 30, comprising:

26. The system of claim 25, wherein the determination of the diversion joint movement includes determining the diversion joint movement by using a blending function to maintain movement continuity during the diversion of the segment.

The system of claim 33, wherein the blending function is a sigmoid function.

26. The system of claim 25, wherein the diverted joint motion is determined using a Closed Loop Inverse Kinematics (CLIK) algorithm.

The disconnected structure comprises a second body segment in the articulated system;
The computer processor is
Determining a second turning articulation of the second body segment that prevents the second body segment from colliding with the body segment;
Avoiding a collision with the body segment by changing the direction of the second body segment based on the second turning joint movement;
26. The system of claim 25, further comprising: