Robot Link-Sequence Mapping for Automatic Joint Angle Conversion
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Solution Overview
Problem
Existing methods require manual conversion settings for humanoid robots to mimic human motion, which can fail when humans move unexpectedly, and are inefficient due to the need for manual creation of conversion formulas.
Innovation Solution
A link-sequence mapping device that automatically maps a model link-sequence to a robot link-sequence by receiving model link-sequence information, specifying coordinate values, calculating robot link-sequence information to minimize distance between model and robot positions, and outputting joint angles, eliminating the need for manual conversion formulas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual conversion settings are used to map human motion to robot motion, then the robot can mimic human movement, but the system requires manual creation of conversion formulas and stops when unexpected human motions occur
Solution Approach 1:
The system performs self-service by automatically generating conversion formulas through optimization calculations. The calculation unit computes conversion parameters that minimize the objective function representing distance between model and robot link positions, eliminating the need for manual formula creation and enabling adaptation to unexpected human motions
Solution Approach 2:
The system changes parameters by optimizing conversion formulas dynamically. The calculation unit adjusts conversion parameters based on the objective function to minimize positional differences between model and robot link sequences, allowing automatic adaptation to various human motion patterns without manual intervention
2Reliability
If manual conversion settings are used, then conversion can be performed for known motions, but the robot movement stops when unexpected human motions occur
Solution Approach 1:
The system implements feedback by using the objective function to evaluate the distance between model and robot link positions. The calculation unit continuously optimizes conversion formulas based on this feedback, ensuring the robot maintains continuous motion by adapting to unexpected human movements through real-time calculation rather than relying on pre-defined conversion settings
3Manufacturing precision
If conversion formulas are manually created for each robot type, then accurate mapping can be achieved, but the process requires significant manual time and effort
Solution Approach 1:
The system replaces the mechanical process of manual formula creation with an automated calculation system. The calculation unit uses optimization algorithms to automatically generate conversion formulas that achieve accurate mapping between model and robot link sequences, eliminating manual setup time while maintaining high mapping accuracy through mathematical optimization
Data Source
AI summary
Provided is a link-sequence mapping device capable of automatically mapping a model link-sequence to a link sequence of an arbitrarily defined robot. The link-sequence mapping device (1) is equipped with: a reception unit (11) for receiving model link-sequence information indicating the positions of respective links included in a model link-sequence; an identification unit (14) for identifying, by using the model link-sequence information, coordinate values of predetermined multiple positions in the model link-sequence; a calculation unit (15) for calculating robot link-sequence information, that is, information about the positions of respective links included in a robot link-sequence, such that objective functions corresponding to the respective distances between the identified multiple positions and corresponding multiple positions in the robot link-sequence are reduced; and an output unit (17) for outputting information about angles of respective joints in the robot link-sequence which are determined in accordance with the calculated robot link-sequence information.