Katrix, Inc.

American Android Corp.

David A Handelman

Stephen H Lane

Vijaykumar Gullapalli

Haldun Komsuoglu

Gordon H Franken

Methods and systems to improve operator control of mobile robots are disclosed. The invention comprises in various embodiments the aggregation of multiple image feeds to improve operator situational awareness and the dynamic selection of command reference frames to improve operator intuitive control. The disclosed methods and systems reduce operator workload, reduce task completion times, and extend the capabilities of mobile manipulation systems.

Methods and processes to aggregate multiple image feeds and dynamically select command reference frames

A method and apparatus for interactively controlling and coordinating the limb movements of computer-generated articulated characters with an arbitrary number of joints. On-line computational methods are used for animating limb movements of articulated characters by solving associated forward and inverse kinematics problems in real time subject to multiple goals and constraints. The methods provide computer animated characters with fully interactive goal-directed behaviors, such as bipedal walking, through simultaneous satisfaction of position, alignment, posture, balance, obstacle avoidance, and joint limitation constraints. Goal-based motion primitives, called synergies, coordinate sets of joint movements which separately attempt to satisfy each of the above constraints. The present methods adapt character movements on-line to accommodate uneven terrain, body modifications, or changes in the environment by automatically transforming and producing joint rotations relative to the instantaneous point of contact of the body with the world. Libraries of pre-configured goal-directed behaviors, such as reaching, sitting, walking, jumping, etc., can be constructed and used to animate a wide variety of characters.

Limb coordination system for interactive computer animation of articulated characters

Recorded motion data is combined with interactive control techniques to manipulate the animation of articulated figures. The methods enable computer animated characters to produce fully interactive goal-directed behaviors, such as bipedal walking, through simultaneous satisfaction of position, alignment, posture, balance, obstacle avoidance, and joint limitation constraints while retaining qualitative characteristics of the original non-interactive motion data. Goal-based motion primitives, called synergies, are used to coordinate sets of joint movements that attempt to satisfy each of the above constraints. Non-interactive motion capture and keyframe data, representing examples of desired character movements, are accommodated in the present animation system in three ways: 1) direct approach--non-interactive motion data used directly to specify desired body posture synergy goals as a function of time, 2) hybrid approach--non-interactive motion data and program control commands blended to specify elements of desired position, alignment and/or balance synergy goals as a function of time, and 3) template approach--non-interactive motion data used to auto-tune adjustable parameters, enabling program control commands to generate fully interactive movements that qualitatively resemble the non-interactive motion data. The disclosed methods allow libraries of pre-configured goal-directed behaviors, such as reaching, sitting, walking, jumping, etc., to be constructed and used to animate a wide variety of characters.

Interactive motion data animation system

A method and apparatus for interactively controlling and coordinating the limb movements of computer-generated articulated. On-line computational methods are used for animating limb movements of articulated characters by solving associated forward and inverse kinematics problems in real time subject to multiple goals and constraints. The methods fully interactive goal-directed behaviors, such as bipedal walking, through simultaneous satisfaction of position, alignment, posture, balance, obstacle avoidance, and joint limitation constraints. Goal-based motion primitives, called synergies, coordinate sets of joint movements which separately attempt to satisfy each of the above constraints. The present methods adapt character movements on-line to accommodate uneven terrain, body modifications, or changes in the environment by automatically transforming and producing joint rotations relative to the instantaneous point of contact of the body with the world. Recorded motion data is combined with interactive control techniques to manipulate the animation of articulated figures. The methods enable computer animated characters to produce fully interactive goal-directed behaviors, while retaining qualitative characteristics of the original non-interactive motion data. Non-interactive motion capture and keyframe data, representing examples of desired character movements, are accommodated in the present animation system in three ways: 1) direct approach--non-interactive motion data used directly to specify desired body posture synergy goals as a function of time, 2) hybrid approach--non-interactive motion data and program control commands blended to specify elements of desired position, alignment and/or balance synergy goals as a function of time, and 3) template approach--non-interactive motion data used to auto-tune adjustable parameters, enabling program control commands to generate fully interactive movements that qualitatively resemble the non-interactive motion data.

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Princeton, NJ, United States of America

David A Handelman