ROBOTICS DEVICE CONTROL SIGNALS BASED ON MOVEMENT DATA

Number: 20240248491
Published: 2024-07-25
Filed: 2023-12-22
Assignee: DISNEY ENTERPRISES, INC.
Inventors: Bächer; Moritz Niklaus et al.
CPC: B62D57/032; G06T7/246; G05D1/243; G05D1/646
Verdict: High Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Robot control-signal generation based on movement data (Bächer, legged-robot locomotion).

Abstract

Techniques for generating robotics control signals are disclosed. Movement data is received for a desired motion for a robotics device, which can include animation, motion capture, sensor data, or movement of a different robotics device. Robotics device data is received, including control data and reference points corresponding to locations on the robotics device. A correlation is determined between movement data points in the movement data and the reference points. Using the control data, a control signal is determined based on the desired motion. The control signal is based on a distance between at least one movement data point and at least one reference point. The disclosed technology can retarget motions onto under-actuated systems and without regard to differences in degrees of freedom, mass distributions, and proportions of robotics devices.

Background

FIELD

Described embodiments relate generally to determining and/or generating control signals for robotics devices. BACKGROUND

Robotic devices typically include actuators that are configured to move various components (e.g., arms, legs, etc.) in different manners. Such actuators can be controlled by devices, such as controllers, that determine how and when to actuate movement. The controllers can be time-intensive to program accurately, such that updating desired movement patterns across different robotic devices, e.g., to scale to different proportional devices or types of devices, can take many man hours and require multiple iterations of testing and updating the controller signals. SUMMARY

The following Summary is for illustrative purposes only and does not limit the scope of the technology disclosed in this document.

In an embodiment, a computer-implemented method of determining control signals for robotics devices is disclosed. Movement data is received corresponding to a desired motion for a robotics device. The robotics device can be a legged robotics device, a simulation of a robotics device, or both. In some implementations, the movement data comprises animation data, motion capture data, or sensor data. In some implementations, the movement data corresponds to a movement of a different robotics device. Robotics device data is received for the robotics device, the robotics device data including control data and a set of reference points co

Claims

1. A computer-implemented method of determining control signals for robotics devices, the method comprising: receiving movement data corresponding to a desired motion for a robotics device; receiving robotics device data for the robotics device, wherein the robotics device data includes control data and a set of reference points corresponding to a set of locations on the robotics device; determining a correlation between a set of movement data points in the movement data and the set of reference points; and determining, using the control data, at least one control signal to change a state of the robotics device based on the desired motion for the robotics device, wherein the at least one control signal is determined based on a distance between at least one movement data point in the set of movement data points and at least one reference point in the set of reference points. || 14. A computer-implemented method of retargeting of robotics device movements, the method comprising: receiving movement data corresponding to a target motion for a robotics device; determining characteristics of the robotics device, wherein the characteristics comprise control data, a set of reference points corresponding to a set of locations on the robotics device, and dimensions of the robotics device; determining a mapping between the target motion for the robotics device and a trajectory for the set of reference points, wherein the mapping is based on the control data and the dimensions of the robotics device, and wherein the mapping is to minimize a distance between the set of reference points and a set of movement data points corresponding to the target motion; and generating a control signal based on the mapping. || 20. At least one computer-readable medium carrying instructions that, when executed by a computing system, cause the computing system to: receive a desired motion sequence for a first robotics device having a first set of characteristics, wherein the first set of characteristics comprises dimensions of the first robotics device; determining a correlation between a first set of reference points corresponding to one or more locations on the first robotics device a second set of reference points corresponding to one or more locations on a second robotics device, wherein the second robotics device has a second set of characteristics different from the first set of characteristics; and generating a modified control signal based on the correlation, the second set of characteristics, and the first set of characteristics, wherein the modified control signal is to control the second robotics device to generate the desired motion sequence.