Biped Control Modulating Reference Pose for Balance
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Solution Overview
Problem
Biped robots and characters in virtual reality struggle to maintain balance due to discrepancies in weight, height, and external disturbances, leading to instability and loss of balance during motion simulation.
Innovation Solution
A data-driven biped control apparatus with a balancing maintenance module that generates target pose information by modulating reference pose information based on current pose feedback, and a synchronization module that edits the trajectory of reference pose information to synchronize with the biped's actual pose, allowing for real-time adjustments to maintain balance without pre-computation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If motion capture data is simply tracked and controlled, then the control process is simple, but the biped easily loses balance due to discrepancies in weight, height, and external disturbances
Solution Approach 1:
The patent implements a feedback mechanism where the current pose of the biped is continuously fed back to the balancing maintenance module. This module compares the current pose with the reference pose and generates modulation values to adjust the target pose, enabling real-time balance correction without increasing overall system complexity
Solution Approach 2:
The system dynamically adjusts the reference pose information in real-time based on the biped's current state and external disturbances. The balancing maintenance module modulates the reference pose to generate adaptive target poses, making the control system responsive to changing conditions while maintaining simplicity
2Reliability
If reference pose information is modulated in real-time based on current pose feedback, then balancing reliability is improved, but computational complexity increases
Solution Approach 1:
The balancing maintenance module focuses computational effort on only the necessary pose parameters that affect balance (hip angles, ankle angles, foot height) rather than computing all possible motion parameters. This partial action approach maintains high balancing reliability while avoiding excessive computational complexity
3Manufacturing precision
If the trajectory is edited to synchronize with actual pose, then motion accuracy is improved, but processing time increases
Solution Approach 1:
The synchronization module pre-processes the reference pose trajectory to identify key synchronization points (such as swing foot landing moments) before real-time execution. This allows the system to make targeted trajectory edits at critical moments without requiring continuous heavy processing, thus improving motion accuracy while minimizing time loss
Data Source
AI summary
The invention relates to controlling a biped. In the biped control, target pose information for tracking control is provided by an animation engine, and/or is generated by modulating the reference pose information acquired from video capture data. In modulating such reference pose information, the current pose information can be fed back and used.