Motion capture method and system of robotic arm, medium, and electronic device
US11766784B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 17, 2022 |
| Grant date | Sep 26, 2023 |
| Priority date | — |
| Expiry date | Dec 17, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39387
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The invention provides a motion capture method of a robotic arm, including: fastening a visual sensor on a robotic arm to acquire data as a source domain, fastening an inertial sensor on a corresponding human arm to acquire data as a target domain, and establishing a state space expression of a system; setting an optimal unknown state observed joint distribution by using a total probability theory and an observed prediction distribution of the source domain as a condition, decomposing a conditional joint observed distribution model, and solving an optimal distribution using KL divergence; and transferring knowledge of the source domain measured by the visual sensor into the target domain measured by the inertial sensor based on a Kalman filter and the total probability theory, performing data fusion based on Kalman filtering, and predicting a state of the system at a next moment to implement motion capture of the robotic arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.