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:
May. 12, 2015
Filed:
Mar. 04, 2013
Disney Enterprises, Inc., Burbank, CA (US);
Katsu Yamane, Burbank, CA (US);
Disney Enterprises, Inc., Burbank, CA (US);
Abstract
The disclosure provides an approach for determining simplified models of humanoid robots. A simplification application linearizes a robot model around a nominal state and performs a singular value decomposition of an inertial term of the model, selecting singular values and corresponding singular vectors to be kept in an inertial term of a simplified model by matching a kinetic energy of the original model to a kinetic energy of the simplified model. Further, a gravitational forces term and a velocity-dependent forces term may be determined by computing active joint torques at sample poses around the nominal pose and solving for the gravitational forces term and the velocity-dependent forces term. A mapping from the simplified model to the original model may be determined using, e.g., numerical optimization.