Multi-motion Generator Torque Control for Smooth Transitions
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Solution Overview
Problem
Traditional motion controllers are resource-intensive to train for different motions and objects, and they struggle with smooth transitions between motions, being object-specific and requiring separate controllers for each type of object.
Innovation Solution
A multi-motion generator that provides torque values for multiple motions and objects, allowing smooth transitions by interpolating between motion sets and using a single system for various types of objects, such as humans and animals, reducing the need for multiple single-motion generators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional motion controllers are trained for different motions and objects, then motion control accuracy is improved, but training time and computational resources increase significantly
Solution Approach 1:
The patent implements a universal motion generator that can handle multiple motion types (walking, running, jumping, etc.) and different object categories (humans, animals, creatures) through a single trained model. The system uses a unified representation space where motion parameters and object characteristics are encoded together, allowing the generator to generalize across different motions and objects without requiring separate training for each combination. This multi-functionality directly reduces training time while maintaining motion control accuracy.
2Measurement precision
If separate controllers are created for each object type, then object-specific motion accuracy is improved, but system complexity increases
Solution Approach 1:
The patent creates a single motion generator that serves multiple object types by encoding object-specific characteristics (such as anatomy, joint structures, and movement patterns) into the input representation. The system processes different object types through the same neural network architecture, eliminating the need for multiple separate controllers while maintaining object-specific motion accuracy through adaptive parameter generation.
Solution Approach 2:
The system maintains object-specific accuracy by dynamically adjusting motion parameters based on the input object characteristics. The motion generator takes object type information as input and generates appropriate torque values, joint angles, and motion trajectories tailored to each object's specific properties, allowing a single controller to adapt to different objects through parameter changes rather than structural modifications.
3Adaptability or versatility
If traditional motion controllers transition between motions, then motion coverage is improved, but transition smoothness deteriorates due to abrupt switching between motion sets
Solution Approach 1:
The patent ensures smooth transitions between different motions by generating continuous torque outputs from the neural network. Instead of abruptly switching between pre-defined motion sets, the motion generator continuously adjusts torque values based on the current motion parameters and previous states, creating seamless transitions. The system maintains continuous control signals that bridge different motion types, eliminating discontinuities and ensuring stable, smooth motion coverage across all motion types.
Data Source
AI summary
A method includes obtaining, by a motion generator that has been trained to generate torque values for a plurality of joints of a rig associated with a target, a set of parameters associated with a target motion. The method includes, in response to the target motion being a first type of motion, generating a first set of torque values for the plurality of joints based on the set of parameters and a set of previous poses of the target. The method includes, in response to the target motion being a second type of motion, generating a second set of torque values for the plurality of joints based on the set of parameters and the set of previous poses of the target. The method includes triggering a movement of the target in accordance with the first set of torque values or the second set of torque values.