公开(公告)号：US20150336273A1

公开(公告)日：2015-11-26

申请号：US14758920

申请日：2013-12-10

申请人： MOVEA ,  COMMISSARIAT A L' ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

发明人： Boris MORINIERE ,  Claude Andriot

IPC分类号： B25J9/16

CPC分类号： B25J9/1694 ,  G05B2219/37388 ,  G05B2219/42337

摘要： Movement of a poly-articulated object, having a plurality of segments linked by at least one articulation, is estimated. Inertial measurements are obtained from capture modules that are fixed relative to respective segments, each module having an accelerometer and a gyrometer, with the measurements being expressed in a measurement reference frame that is fixed relative to the respective segment. The measurements are used to determine at least one stress vector external to the object so as to control a physical model of this object representing the object. Kinematic quantities associated with the segments of the object are then estimated using fundamental dynamics principles using the computed stress vector(s).

摘要翻译： 估计具有通过至少一个关节连接的多个段的多关节物体的运动。 从相对于相应段固定的捕获模块获得惯性测量，每个模块具有加速度计和陀螺仪，测量值在相对于相应段固定的测量参考系中表示。 测量用于确定对象外部的至少一个应力矢量，以便控制表示对象的该对象的物理模型。 然后使用所计算的应力向量使用基本动力学原理估计与对象的段相关联的运动量。