Humanoid Robot Breathing Motion Control via Joint Segmentation
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Solution Overview
Problem
Humanoid robots lack the ability to perform natural, human-like breathing motions, which are essential for providing intimacy and convenience to users, as they currently do not have the capability to simulate human-like respiratory movements effectively.
Innovation Solution
A method is developed to generate human-like breathing motions in humanoid robots by calculating target rotational angles for specific joint units, incorporating physical strength level and breathing frequency calculations, and integrating these into the basic motion control system, allowing the robot to perform a realistic breathing motion even when stationary or performing unrelated gestures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If humanoid robot performs basic motion with high operational accuracy, then task execution is precise, but breathing motion cannot be performed simultaneously
Solution Approach 1:
The motion control system is segmented into separate functional modules: basic motion control unit and breathing motion control unit. The breathing motion is applied only to specific joint units (shoulder, elbow, neck) independently from the basic motion joints, allowing simultaneous operation without interfering with task execution accuracy
Solution Approach 2:
The breathing motion is applied locally to specific joint units rather than the entire robot body. By limiting breathing motion to shoulder, elbow, and neck joint units while keeping other joints focused on basic motion, the system maintains operational accuracy in task-critical joints while adding humanlike quality to appearance-critical joints
2Shape
If humanoid robot performs breathing motion, then humanlike appearance is enhanced, but energy consumption increases
Solution Approach 1:
The breathing motion is implemented as a partial action applied only to specific joint units (shoulder, elbow, neck) rather than the entire robot body. This partial application of breathing motion provides sufficient humanlike appearance enhancement while minimizing the total energy consumption compared to full-body breathing motion
Solution Approach 2:
The breathing motion is implemented as periodic oscillation of joint angles rather than continuous motion. The sinusoidal angle adjustment creates natural breathing cycles that enhance humanlike appearance while allowing energy-saving pauses between breaths, reducing overall energy consumption compared to sustained motion
3Shape
If humanoid robot remains stationary to perform breathing motion, then humanlike quality is improved, but task execution efficiency decreases
Solution Approach 1:
The robot's joints are segmented into basic motion joints and breathing motion joint units. This segmentation allows the breathing motion to be superimposed on top of ongoing basic motions, eliminating the need to stop tasks for breathing and thereby maintaining task execution efficiency while improving humanlike quality
Solution Approach 2:
The breathing motion control is merged with the basic motion control system by adding breathing angle adjustments to the target angles of specific joint units. This merging allows both breathing motion and task execution to occur simultaneously without requiring the robot to stop working, thus maintaining productivity while enhancing humanlike appearance
Data Source
AI summary
A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.