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An action imitation method, an action imitation device, and a terminal device

A technology of actions and key points, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as increasing the burden of manual work, and achieve the effect of simplifying the burden of programming

Active Publication Date: 2021-06-25
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, in order for the robot to achieve highly complex movements, programmers are required to program the robot in advance, which will obviously increase the workload of humans

Method used

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  • An action imitation method, an action imitation device, and a terminal device
  • An action imitation method, an action imitation device, and a terminal device
  • An action imitation method, an action imitation device, and a terminal device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] The following describes an action imitation method provided in Embodiment 1 of this application, please refer to the attached figure 1 , the action imitation method includes:

[0034] In step S101, the finger bending angle information of the object to be imitated is obtained, and the pose of key points in the object to be imitated is obtained;

[0035] In the first embodiment of the present application, in order to simplify the programming burden on the robot, it is necessary to obtain the motion of the object to be imitated in advance, that is, to obtain the finger bending angle information of the object to be imitated (for example, a person), and the object to be imitated. The key point of the posture.

[0036] At present, there are many different types of motion capture systems in the prior art, which can collect the poses of key points in the object to be imitated. For example, the prior art provides mechanical motion capture systems, acoustic motion capture system...

Embodiment 2

[0079] Embodiment 2 of the present application provides an action imitation device, such as figure 2 As shown, the simulation device 200 includes:

[0080] An information acquisition module 201, configured to acquire finger bending angle information of the object to be imitated, and obtain the pose of key points in the object to be imitated;

[0081] The attitude filtering module 202 is used to calculate the attitude change of the key point according to the pose of the key point and the historical pose of the key point at the previous moment, and perform filtering processing on the attitude change, according to Filtering the attitude variation and the historical pose to obtain the corrected pose of the key point;

[0082] The mapping module 203 is configured to map the corrected poses of the key points to the robot space, obtain the poses of the key points in the robot space, and calculate the grasping position of the robot based on the bending angle information of the finge...

Embodiment 3

[0108] image 3 It is a schematic diagram of a terminal device provided in Embodiment 3 of the present application. Such as image 3 As shown, the terminal device 300 in this embodiment includes: a processor 301 , a memory 302 , and a computer program 303 stored in the memory 302 and operable on the processor 301 . The steps in the foregoing method embodiments are implemented when the foregoing processor 301 executes the foregoing computer program 303 . Alternatively, when the processor 301 executes the computer program 303, the functions of the modules / units in the above device embodiments are realized.

[0109] Exemplarily, the above-mentioned computer program 303 may be divided into one or more modules / units, and the above-mentioned one or more modules / units are stored in the above-mentioned memory 302 and executed by the above-mentioned processor 301 to complete the present application. The above-mentioned one or more modules / units may be a series of computer program in...

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Abstract

The present application provides an action imitation method, an action imitation device, and a terminal device. The method includes: obtaining information on the bending angle of the finger of the object to be imitated, and obtaining the pose of key points in the object to be imitated; The pose of the key point, and the historical pose of the key point at the previous moment, filter the pose change amount to obtain the corrected pose of the key point; map the corrected pose of the key point to In the robot space, obtain the pose of the key point under the robot space, and calculate the bending angle value of the grasping part of the robot based on the bending angle information of the finger; based on the pose information of the key point under the robot space and the bending angle value of the grasping part of the robot to drive the robot to imitate the action of the object to be imitated. The present application can still enable the robot to realize high-complexity actions without increasing the manual work burden.

Description

technical field [0001] The present application belongs to the technical field of robot control, and in particular relates to an action imitation method, an action imitation device and a terminal device. Background technique [0002] At present, in order for the robot to achieve highly complex movements, programmers are required to program the robot in advance, which will obviously increase the workload of humans. [0003] Therefore, how to enable the robot to perform high-complexity movements without increasing the workload of humans is a technical problem that needs to be solved urgently. Contents of the invention [0004] In view of this, the embodiments of the present application provide an action imitation method, an action imitation device, and a terminal device, which can enable a robot to perform highly complex actions without increasing the workload of humans. [0005] The first aspect of the embodiments of the present application provides an action imitation meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/161B25J9/1612B25J9/1664B25J13/00B25J13/08
Inventor 林泽才安昭辉刘益彰庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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