Bipedal Robot Motion Style Matching via ZMP Constraint Trajectory
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods fail to accurately mimic the movements of animation characters in robots due to the physical infeasibility of animation motions in the real world, leading to instability and inability to replicate lifelike bipedal walking in humanoid robots.
Innovation Solution
A method involving the development of a bipedal robot with a kinematic structure matching the animation character, using 3D printed links and servo motors, and a control program that generates an open-loop walking trajectory to maintain the Zero Moment Point within the contact convex hull, allowing the robot to mimic the animation character's motion style.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If animation character motions are directly transferred to robots, then motion style accuracy is improved, but physical feasibility deteriorates
Solution Approach 1:
The patent transforms animation motions by adjusting parameters such as joint angles, velocities, and accelerations to satisfy robot physical constraints. The motion transfer system modifies animation data parameters while preserving the characteristic motion style, ensuring the transformed motions are physically feasible for the robot to execute.
Solution Approach 2:
The patent introduces a motion transfer system as an intermediary between animation characters and robots. This system acts as a mediator that receives animation motions, transforms them according to robot capabilities, and generates feasible robot trajectories, thereby resolving the conflict between motion fidelity and physical feasibility.
2Adaptability or versatility
If humanoid robots are designed to interact with human environments, then adaptability is improved, but control complexity increases
Solution Approach 1:
The patent copies human motion patterns from animation data to control humanoid robot behavior. By using animation characters as motion templates, the system simplifies the control programming complexity while maintaining high adaptability for interacting with human environments, as the copied motions are inherently suitable for human-centered tasks.
3Adaptability or versatility
If animation characters are designed without physical constraints, then motion creativity is improved, but robot replication accuracy deteriorates
Solution Approach 1:
The system preserves the creative diversity of animation motions by selectively transforming parameters rather than rejecting unconventional motions. It identifies which motion parameters can be adjusted to achieve physical feasibility while maintaining the essential characteristics and creativity of the original animation style.
Data Source
AI summary
A robot having the motion style of a character defined by animation data obtained from an animation movie or computer animation data files. The robot is generated using a robot development method that obtains animation data for a character walking or performing other movements. The character may be humanoid, and the method includes developing a bipedal robot with a lower portion having a kinematic structure matching the kinematic structure of the lower portion of the animation character as defined in the animation data. A control program is generated for the robot such as by using trajectory optimization. The control program may include an open-loop walking trajectory that mimics the character's walking motion provided in the animation data. The open-loop walking trajectory may be generated by modifying the motion of the character from the animation data such that the Zero Moment Point (ZMP) stays in the contact convex hull.