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:
Oct. 20, 2015
Filed:
Dec. 05, 2011
Michael Mistry, Pittsburgh, PA (US);
Akihiko Murai, Pittsburgh, PA (US);
Katsu Yamane, Pittsburgh, PA (US);
Jessica Kate Hodgins, Pittsburgh, PA (US);
Michael Mistry, Pittsburgh, PA (US);
Akihiko Murai, Pittsburgh, PA (US);
Katsu Yamane, Pittsburgh, PA (US);
Jessica Kate Hodgins, Pittsburgh, PA (US);
Disney Enterprises, Inc., Burbank, CA (US);
Abstract
Embodiments of the invention provide an approach for reproducing a human action with a robot. The approach includes receiving data representing motions and contact forces of the human as the human performs the action. The approach further includes approximating, based on the motions and contact forces data, the center of mass (CoM) trajectory of the human in performing the action. Finally, the approach includes generating a planned robot action for emulating the designated action by solving an inverse kinematics problem having the approximated human CoM trajectory as a hard constraint and the motion capture data as a soft constraint.