KR20100135347A - Bi-ped and 3d character control jointcontroller - Google Patents

Abstract

The present invention relates to a biped walking robot and a joint controller for manipulating a 3D character, and more particularly, in order to manipulate a humanoid biped walking robot and a 3D character made up of joints, the movement angle of each joint and a joystick corresponding thereto are one-to-one. It relates to a joint controller that corresponds to and arranges joysticks in a special shape and structure so that the manipulating object can be smoothly manipulated.

The bipedal walking robot and the 3D character control joint controller according to the present invention as described above, a three-axis joystick is disposed on the left and right on the lower support case and the upper case for fixing another three-axis joystick upside on each three-axis joystick. It has a fixed structure. The top case moves independently of each other and places five palmsticks and five joysticks that are finger-controlled. When the user controls the joysticks, the variable resistance sensor (hall sensor) value of each joystick is read by the MCU of the joint controller's control board and sent to the robot and the PC through a wireless or USB interface. It is converted to the operating angle to move the joints. The joystick module of the joint controller moved by the user is equipped with a microstep motor that can be driven precisely, and the actual joint motion angle of the robot or 3D character is fed back to the step motor, and the value sent from the joint controller The user can feel the response of the biped walking robot and the 3D character in real time by correcting the error between the actual moving angles.

Description

Bi-ped and 3D Character Control JointController

The present invention relates to a bipedal robot and a 3D character control joint controller, and more particularly, in order to control a humanoid bipedal robot made of joints and a 3D character, an operation angle of each joint and a corresponding joystick are corresponded one-to-one. The present invention relates to a joint controller in which joysticks are arranged in a special shape and structure so as to smoothly manipulate a steering object.

In general, a number of techniques for manipulating robots have already been disclosed, for example, bipedal fighting robots produce pattern data defining a defined movement, so that the direction from the controller to the key or joystick (front, back, left, right) And the action (forward, sit, wake up, arm swing) to specify the movement of the pattern, but this is possible only the movement of the pre-input pattern, there was a problem that can not control the movement of the robot in real time.

In the case of 3D characters, the main motion is created on the computer, and the motion between them is made using numerical interpolation. In addition, the user can only select actions already input by the keyboard and the mouse, and it is difficult to create a new movement.

On the other hand, the physics engine is added to 3D graphics, and the same environment in which robots move under the influence of gravity is realized in games and virtual reality on computers, and it is not difficult to produce biped robot simulations. The desire to control biped robots and 3D characters more easily and realistically is increasing day by day.

The present invention for solving the problems as described above, the first, upper and lower case by connecting two three-axis joysticks coupled to one-to-one mapping to the ankle and thigh joints to smoothly control the walking, the second upper case Five joysticks were placed on each to map the torso and arm joints. Third, a sensory bipedal robot that feeds back the difference between the joystick angle manipulated by the user and the movement angle of a real robot or 3D character to the joint controller to correct the joystick angle by applying it to a microstep motor that can be precisely driven. And a 3D character steering joint controller.

The bipedal walking robot and the 3D character control joint controller according to the present invention for achieving the above object is a three-axis joystick is disposed on the left and right in the lower support case and to fix another three-axis joystick on the respective three-axis joystick The upper case is fixed.

The top case moves independently of each other and places five palmsticks and five joysticks that can be controlled by fingers. When the user moves the joysticks, the variable resistance sensor (or hall sensor) value of each joystick is read by the MCU of the joint controller's control board and sent to the robot and the PC through the wireless or USB interface. It is converted to an operating angle to move the joints.

 The joystick module of the joint controller, which is moved by the user, is equipped with a microstep motor that can be driven precisely, and the actual joint movement angle of the robot or 3D character is fed back to the step motor, and the value sent from the joint controller The error between the actual moving angle is corrected by the joystick module in the joint controller, and the user can feel the response of the biped robot in real time.

The upper case is equipped with a palm rest so that the upper case itself can be tilted freely back and forth, left and right. In addition, while maintaining the posture of the upper case, the three-axis joystick fixed to the lower case can be rotated around the joystick axis forward, backward, left and right, and the ankle and thigh hip joints except the knee of the biped robot can be freely moved. In addition, this operation is characterized by the ability to simply control one leg, except the knee with one hand. The knee is controlled using a joystick assigned to the top case.

The data sent from the joint controller to the PC or robot is read by the sensor data of the joystick, and this data is actually converted to the joint motion angle by the conversion table in the PC or robot. Therefore, even if the joint configuration of the robot or the 3D character changes, only the conversion table can be changed to correspond.

According to the bipedal walking robot and the 3D character control joint controller according to the present invention as described above, there is no need to put a lot of manpower and time in order to input the motion pattern data in order to make a complex movement, there is a very economic effect. In addition, users can freely create motion or increase entertainment effects on their own, thereby creating new games or dancing robots. In the IT industry as a whole, it is expected that a new user interface following the keyboard and mouse will be created to enable true 3D computing.

Hereinafter, a heterogeneous walking robot and a 3D character steering joint controller according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. 1 shows a joystick basic module 100 that is a component of a joint controller according to an exemplary embodiment of the present invention. Joystick basic module 100 is composed of three components. The first component is the joystick axis, which changes the value of the sensor according to its position between the microstep mode and the sensor. The second is a variable resistor or hall sensor that converts the physical quantity of the joystick shaft into voltage changes. The third is a microstep motor, which is coupled to the same axis as the sensor axis, and receives feedback data from a robot or a PC to correct an error.

 2 shows a three-axis joystick module composed of a joystick basic module. Three-axis and two-axis joystick modules are used in the joint controller. In some cases, only one axis may be used. When only one axis is used, it can be said that it controls the operation mode.

In order to smoothly control the biped walking robot or 3D character, it is important to arrange the joystick modules so as to correspond appropriately to the joint of the robot or 3D character. The center of gravity movement is very important in the bipedal robot or 3D character, and it can be seen from FIG. 8 that this mapping is optimized for the lower body control of the bipedal robot or 3D character. In the case of upper body control, five joysticks on the upper case can control waist, torso, neck and arm, and also change the mode to control fingers and facial expressions.

 4 and 5 show the front view of the actual joysticks arranged from above.

The electronic part of the joint controller can be seen in the flow chart of FIG. 6. The sensor data of the joystick module is converted to digital data by A / D conversion and packetized at the transmitter through the MCU and sent to the robot or PC. At the same time, the MCU controls the motor by D / A conversion of the feedback data from the receiver to the microstep motor control analog signal.

In the robot or PC, the data received from the joint controller is converted through the sensor information-joint motion angle conversion table and sent to the robot or 3D character joint. At the same time, the current angle of the joint of the robot or 3D character is read and converted through the joint motion angle-microstep motor position information conversion table to feed back to the joint controller.

The data transmission method between the joint controller and the PC or the robot according to the present invention is not limited to a method using wired or wireless, and various transmission methods may be implemented according to the needs of those skilled in the art.

The structure and operation of the present invention described above is possible to those skilled in the art to which the present invention pertains various substitutions and modifications within the scope without departing from the technical spirit of the present invention and the embodiments and drawings described above It is not limited to.

1 is a structural diagram of a joystick basic module according to an embodiment of the present invention;

2 is a schematic view of a joystick basic module disposed on the X, Y, and Z axes in accordance with an embodiment of the present invention;

3 is a structural diagram mapping a joint and a joystick of a biped walking robot or a 3D character according to an exemplary embodiment of the present invention;

4 is a front view of a joint controller according to an embodiment of the present invention;

5 is a view from above of a joint controller according to an embodiment of the present invention;

6 is a flowchart illustrating an operation process of a joint controller according to an embodiment of the present invention;

7 is a flowchart illustrating an operation process of a PC-side configuration and S / W of a joint controller according to an embodiment of the present invention; And FIG. 8 is an exemplary view illustrating manipulation of a joint controller and movement of a joint corresponding thereto according to an embodiment of the present invention.

※ Explanation of symbols for main parts of drawing

100: joystick basic module structure

110: linkage of a bipedal robot or 3D character

120: Joint of a biped robot or 3D character

130, 180: joystick module attached to the upper case

140, 190: Joystick module attached to the left and right side of the lower case and the center of the upper case

150: lower case

160: top case

170: stand for the hand to attach to the top case

Claims (4)

In bipedal robot and 3D character control joint controller, To control the humanoid biped robot consisting of joints and the 3D character, the joint angles of the joints and the corresponding joysticks correspond one-to-one, and the three-axis joysticks are fixed to the left and right sides of the lower case, and the upper case is fixed upside down. Combining another 3-axis joystick; 5 joysticks each placed in separate top cases; Attaching the holder to the palm of the hand; It has a structure that can control each biped walking robot and 3D character's legs, upper body, fingers and face expression with both hands, and feedback the joint movement angle of the robot or 3D character from the robot or PC to the joint controller. ) So that the user can feel the reaction of the robot and 3D character in real time by applying it to the microstep motor which can be driven precisely; Biped robot and 3D character controlled joint controller. The method of claim 1, In order to control the humanoid biped robot consisting of the joints and the 3D character, the motion angles of the joints and the corresponding joysticks correspond one-to-one, and the three-axis joysticks are fixed to the left and right sides of the lower case, and the upper case is fixed upside down. A bipedal robot and 3D character controlled joint controller that can be combined with another 3-axis joystick to smoothly control the legs of the bipedal robot and the 3D character. Arranging five joysticks in the independent upper case; Biped walking robot and 3D character control joint controller having a structure that can control the legs, upper body, fingers, and facial expression of each biped robot and 3D character with both hands . The bipedal walking that allows the user to feel the reaction of the bipedal walking robot and the 3D character in real time by feeding back the joint motion angle of the bipedal walking robot or the 3D character to the joint controller from the robot or the PC. Robot and 3D character controlled joint controller. ※

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