Robot Motion Control with Upper-Body Sync and Lower-Body Stability
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Solution Overview
Problem
Existing entertainment robots struggle to effectively synchronize their movements with those of a user, limiting their ability to provide immersive and interactive experiences.
Innovation Solution
A system that controls a robot device with an upper body and a lower body, utilizing a posture estimating section to acquire and analyze image data of a user, and a motion control section to synchronize the robot's upper body posture with the user's, while stabilizing the lower body's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot device attempts to synchronize its entire body movement with the user, then the synchronization accuracy improves, but the system stability deteriorates due to the complexity of coordinating multiple body parts
Solution Approach 1:
The robot's body is divided into two independent control segments: upper body and lower body. The upper body executes synchronized movement with the user to achieve high synchronization accuracy, while the lower body maintains stabilization control to ensure system stability. This segmentation allows each part to have specialized control functions, resolving the contradiction between synchronization accuracy and system stability.
2Measurement precision
If the robot device focuses on synchronizing upper body movement with the user, then the synchronization accuracy improves, but the lower body stability control becomes insufficient
Solution Approach 1:
The control system is segmented into two independent control modules: a first motion control section for upper body synchronization and a second motion control section for lower body stabilization. This segmentation ensures that each body part receives appropriate specialized control, with the upper body focused on tracking user movements accurately and the lower body focused on maintaining stable locomotion and balance.
3Device complexity
If the robot device uses a single motion control section to manage both upper and lower body, then the device complexity is reduced, but the motion control precision deteriorates
Solution Approach 1:
The motion control section is divided into two independent subsections: a first motion control section dedicated to upper body synchronization control and a second motion control section dedicated to lower body stabilization control. This segmentation allows each subsection to optimize its control algorithms for its specific function, achieving high motion control precision for both upper and lower body movements simultaneously.
4Adaptability or versatility
If the robot device attempts to imitate complex user movements including lower body motions, then the entertainment value improves, but the lower body stability control becomes insufficient
Solution Approach 1:
The robot's movement imitation capability is segmented such that the upper body imitates user movements to provide entertainment value, while the lower body maintains stabilization control for reliable locomotion. This segmentation allows the robot to offer engaging synchronized movement experiences without compromising the stability and balance required for safe and reliable operation.
Data Source
AI summary
A posture estimating circuit acquires image data in which images of a person are recorded, to estimate a posture of the person. A motion control circuit controls the motion of a robot device on the basis of a result of estimation by the posture estimating circuit. A first motion control circuit synchronizes a posture of the upper body of the robot device with a posture of the upper body of the person estimated by the posture estimating circuit. A second motion control circuit carries out a stabilization control of the lower body of the robot device.