Humanoid Robot Motion Control via 3D Image Processing
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Solution Overview
Problem
Conventional methods for controlling humanoid robot motion require separate expensive devices, such as haptic interfaces or motion capture systems, which are cumbersome and costly, and involve complex calculations using inverse kinematics, making real-time intuitive control of robot arms and legs difficult.
Innovation Solution
A system and method using a remote controller with a three-dimensional camera and image processor to recognize user motion, calculate joint angle variations, and transmit control signals to the robot's drive motors, allowing intuitive real-time control of humanoid robot arms and legs without additional expensive equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If haptic interface or motion capture device is used to control robot motion, then real-time control of robot arms and legs is achieved, but the device becomes bulky and expensive
Solution Approach 1:
The patent extracts the essential function of motion capture from complex dedicated devices and implements it using a standard digital camera combined with image processing algorithms. Instead of using expensive motion capture suits with multiple sensors, the system extracts joint position information from ordinary video images through computer vision techniques, thereby achieving real-time control without bulky specialized equipment
Solution Approach 2:
The patent creates a virtual model (copy) of the human body with defined joint positions and uses image processing to map the user's actual joint positions from camera images to the virtual model. This allows the system to calculate robot control signals by comparing the virtual model's pose with the desired pose, eliminating the need for direct physical measurement devices
2Ease of operation
If inverse kinematics is used to calculate joint angles, then robot arm motion is controlled, but the calculation process becomes complex
Solution Approach 1:
The patent replaces complex, computationally intensive inverse kinematics calculations with a simpler image processing approach. Instead of solving complex mathematical equations to determine joint angles, the system directly extracts joint positions from images and uses these positions to generate control signals, significantly reducing calculation complexity while maintaining control effectiveness
Solution Approach 2:
The patent substitutes the mechanical/mathematical calculation system (inverse kinematics) with an optical information processing system (image processing). By using computer vision to directly obtain joint position information from images, the system replaces complex mathematical computations with simpler image analysis operations
Data Source
AI summary
A system and method for motion control of a humanoid robot are provided. The system includes a remote controller for recognizing three-dimensional image information including two-dimensional information and distance information of a user, determining first and second reference points on the basis of the three-dimensional image information, calculating variation in angle of a joint on the basis of three-dimensional coordinates of the first and second reference points, and transmitting a joint control signal through a wired/wireless network. The system also includes a robot for checking joint control data from the joint control signal received from the remote controller and varying an angle of the joint to move according to the user's motion.