The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 30, 2022
Filed:
Apr. 28, 2021
Apple Inc., Cupertino, CA (US);
Jian Zhang, Cupertino, CA (US);
Siva Chandra Mouli Sivapurapu, Santa Clara, CA (US);
Aashi Manglik, Sunnyvale, CA (US);
Amritpal Singh Saini, San Jose, CA (US);
Edward S. Ahn, San Francisco, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
A method includes obtaining, by a motion generator that has been trained to generate torque values for a plurality of joints of a rig associated with a target, a set of parameters associated with a target motion. The method includes, in response to the target motion being a first type of motion, generating a first set of torque values for the plurality of joints based on the set of parameters and a set of previous poses of the target. The method includes, in response to the target motion being a second type of motion, generating a second set of torque values for the plurality of joints based on the set of parameters and the set of previous poses of the target. The method includes triggering a movement of the target in accordance with the first set of torque values or the second set of torque values.