Control system for jointed mechanical devices

摘要

Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.

主权项

1. A method for controlling a device comprising a plurality of joints, the method comprising:
receiving a control signal; determining a mechanical state of the device within a topographic state map for the device specifying one or more motion axes, a plurality of poses for the plurality of joints, and a plurality of transitions between the plurality of poses, each of said plurality of transitions associated with one of said motion axes, each one of said motion axes associated with complementary control signals, each direction along said one of said motion axes associated with a different one of said complementary control signals, and each of said plurality of poses being a different pre-defined arrangement of said plurality of joints; identifying one or more transitions of said plurality of transitions associated with said mechanical state based on the topographic state map; determining whether the control signal is one of the complementary control signals for a one of the motion axes associated with one of the identified transitions; and upon determining that the control signal is a one of the complementary control signals for a one of said motion axes associated with one of said identified transitions, adjusting said mechanical state according to the one of the identified transitions in a direction associated with said one of said complementary control signals.