Patents by Inventor Katsu Yamane
Katsu Yamane has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 9031691Abstract: The disclosure provides an approach for determining simplified models of humanoid robots. A simplification application linearizes a robot model around a nominal state and performs a singular value decomposition of an inertial term of the model, selecting singular values and corresponding singular vectors to be kept in an inertial term of a simplified model by matching a kinetic energy of the original model to a kinetic energy of the simplified model. Further, a gravitational forces term and a velocity-dependent forces term may be determined by computing active joint torques at sample poses around the nominal pose and solving for the gravitational forces term and the velocity-dependent forces term. A mapping from the simplified model to the original model may be determined using, e.g., numerical optimization.Type: GrantFiled: March 4, 2013Date of Patent: May 12, 2015Assignee: Disney Enterprises, Inc.Inventor: Katsu Yamane
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Patent number: 9019278Abstract: Systems, methods and products for animating non-humanoid characters with human motion are described. One aspect includes selecting key poses included in initial motion data at a computing system; obtaining non-humanoid character key poses which provide a one to one correspondence to selected key poses in said initial motion data; and statically mapping poses of said initial motion data to non-humanoid character poses using a model built based on said one to one correspondence from said key poses of said initial motion data to said non-humanoid character key poses. Other embodiments are described.Type: GrantFiled: December 2, 2013Date of Patent: April 28, 2015Assignee: Disney Enterprises, Inc.Inventors: Jessica Kate Hodgins, Katsu Yamane, Yuka Ariki
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Publication number: 20150088469Abstract: The disclosure provides an approach for automatically determining task-specific robot model reductions. In one embodiment, a simplification application determines a smallest order statespace model whose stabilizing controller also stabilizes a full-order robot model. The simplification application may determine such a model via an iterative procedure in which the reduced order is initialized to the number of unstable poles of the open-loop full-order system and, while the closed loop full-order system with the balanced reduced order system's stabilizing controller is unstable, fractional balanced reduction is applied to generate a balanced reduced system. If one or more unstable closed-loop poles exist in the full-order system with the stabilizing controller of the newly-generated balanced reduced system, the reduced order is incremented by one, and fractional balanced reduction repeated, until no unstable closed-loop poles remain.Type: ApplicationFiled: September 25, 2013Publication date: March 26, 2015Applicant: Disney Enterprises, Inc.Inventors: Umashankar NAGARAJAN, Katsu YAMANE
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Publication number: 20140309781Abstract: Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system.Type: ApplicationFiled: June 25, 2014Publication date: October 16, 2014Inventors: Jessica K. Hodgins, Katsu Yamane
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Publication number: 20140292770Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: ApplicationFiled: March 5, 2014Publication date: October 2, 2014Applicant: Disney Enterprises, Inc.Inventors: Paul BEARDSLEY, Javier ALONSO MORA, Andreas BREITENMOSER, Martin RUFLI, Roland SIEGWART, Iain MATTHEWS, Katsu YAMANE
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Publication number: 20140249670Abstract: The disclosure provides an approach for determining simplified models of humanoid robots. A simplification application linearizes a robot model around a nominal state and performs a singular value decomposition of an inertial term of the model, selecting singular values and corresponding singular vectors to be kept in an inertial term of a simplified model by matching a kinetic energy of the original model to a kinetic energy of the simplified model. Further, a gravitational forces term and a velocity-dependent forces term may be determined by computing active joint torques at sample poses around the nominal pose and solving for the gravitational forces term and the velocity-dependent forces term. A mapping from the simplified model to the original model may be determined using, e.g., numerical optimization.Type: ApplicationFiled: March 4, 2013Publication date: September 4, 2014Applicant: DISNEY ENTERPRISES, INC., A DELAWARE CORPORATIONInventor: Katsu YAMANE
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Patent number: 8805584Abstract: A method for calibrating a force-controlled, biped humanoid robot. The method includes selecting a kinematic constraint for the humanoid robot such as maintain the two feet in flat contact with the floor. The method includes moving the humanoid robot into a plurality of poses while enforcing the kinematic constraint. The method includes, during the moving or posing step, collecting angle measurements for a set of joints of the humanoid robot and then, with a processor, running a kinematic calibration module to determine angular offsets for the robot joints to allow determination of joint torques by a robot controller with truer angular orientations. The method includes, during the moving step, collecting relative orientation data from an inertial movement unit (IMU) mounted on the pelvis link, and the angular offsets are determined using relative orientation data. All data is collected from devices on the robot, and no external data collection is required.Type: GrantFiled: November 22, 2011Date of Patent: August 12, 2014Assignee: Disney Enterprises, IncInventor: Katsu Yamane
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Patent number: 8781624Abstract: Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system.Type: GrantFiled: March 24, 2010Date of Patent: July 15, 2014Assignee: Disney Enterprises, Inc.Inventors: Jessica K. Hodgins, Katsu Yamane
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Patent number: 8723872Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: GrantFiled: June 8, 2011Date of Patent: May 13, 2014Assignee: Disney Enterprises, Inc.Inventors: Paul Beardsley, Javier Alonso Mora, Andreas Breitenmoser, Martin Rufli, Roland Siegwart, Iain Matthews, Katsu Yamane
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Patent number: 8698899Abstract: In an optical motion capture system, it is possible to measure spatially high-dense data by increasing the number of measuring points. In the motion capture system using a mesh marker, intersections of lines for the mesh marker are called nodes and the lines connecting the nodes are called edges. The system includes a plurality of cameras for capturing a two-dimensional image of the mesh marker by imaging a subject having the mesh marker, a node/edge detecting section for detecting node/edge information on the mesh marker from the two-dimensional image captured by the respective cameras, and a three-dimensional reconstructing section for acquiring three-dimensional position information of the nodes by using the node/edge information detected from the plurality of two-dimensional images captured by different cameras.Type: GrantFiled: April 11, 2006Date of Patent: April 15, 2014Assignee: The University of TokyoInventors: Yoshihiko Nakamura, Katsu Yamane, Hiroaki Tanie
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Publication number: 20140085313Abstract: Systems, methods and products for animating non-humanoid characters with human motion are described. One aspect includes selecting key poses included in initial motion data at a computing system; obtaining non-humanoid character key poses which provide a one to one correspondence to selected key poses in said initial motion data; and statically mapping poses of said initial motion data to non-humanoid character poses using a model built based on said one to one correspondence from said key poses of said initial motion data to said non-humanoid character key poses. Other embodiments are described.Type: ApplicationFiled: December 2, 2013Publication date: March 27, 2014Applicant: Disney Enterprises, Inc.Inventors: Jessica Kate Hodgins, Katsu Yamane, Yuka Ariki
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Patent number: 8599206Abstract: Systems, methods and products for animating non-humanoid characters with human motion are described. One aspect includes selecting key poses included in initial motion data at a computing system; obtaining non-humanoid character key poses which provide a one to one correspondence to selected key poses in said initial motion data; and statically mapping poses of said initial motion data to non-humanoid character poses using a model built based on said one to one correspondence from said key poses of said initial motion data to said non-humanoid character key poses. Other embodiments are described.Type: GrantFiled: May 25, 2011Date of Patent: December 3, 2013Assignee: Disney Enterprises, Inc.Inventors: Jessica Kate Hodgins, Katsu Yamane, Yuka Ariki
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Publication number: 20130238122Abstract: Techniques are disclosed for optimizing and maintaining cyclic biped locomotion of a robot on an object. The approach includes simulating trajectories of the robot in contact with the object. During each trajectory, the robot maintains balance on the object, while using the object for locomotion. The approach further includes determining, based on the simulated trajectories, an initial state of a cyclic gait of the robot such that the simulated trajectory of the robot starting from the initial state substantially returns to the initial state at an end of one cycle of the cyclic gait. In addition, the approach includes sending joint angles and joint velocities of the initial state to a set of joint controllers of the robot to cause a leg of the robot to achieve the initial state so the robot moves through one or more cycles of the cyclic gait.Type: ApplicationFiled: March 8, 2012Publication date: September 12, 2013Applicant: DISNEY ENTERPRISES, INC.Inventors: Jessica HODGINS, Katsu YAMANE, Yu ZHENG
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Publication number: 20130131865Abstract: A method for calibrating a force-controlled, biped humanoid robot. The method includes selecting a kinematic constraint for the humanoid robot such as maintain the two feet in flat contact with the floor. The method includes moving the humanoid robot into a plurality of poses while enforcing the kinematic constraint. The method includes, during the moving or posing step, collecting angle measurements for a set of joints of the humanoid robot and then, with a processor, running a kinematic calibration module to determine angular offsets for the robot joints to allow determination of joint torques by a robot controller with truer angular orientations. The method includes, during the moving step, collecting relative orientation data from an inertial movement unit (IMU) mounted on the pelvis link, and the angular offsets are determined using relative orientation data. All data is collected from devices on the robot, and no external data collection is required.Type: ApplicationFiled: November 22, 2011Publication date: May 23, 2013Applicant: DISNEY ENTERPRISES, INC.Inventor: Katsu Yamane
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Publication number: 20130054021Abstract: A robotic structure includes a component that moves from a first position to a second position. Further, the robotic apparatus includes a robotic controller that (i) receives an input quantity and an output quantity that are computed from human motion data based on a human musculoskeletal model, (ii) computes at least one parameter based on the input quantity and the output quantity, and (iii) outputs the output quantity to the component upon an input of robotic motion data from the component.Type: ApplicationFiled: August 26, 2011Publication date: February 28, 2013Applicant: DISNEY ENTERPRISES, INC.Inventors: AKIHIKO MURAI, Katsu Yamane
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Publication number: 20120143374Abstract: Embodiments of the invention provide an approach for reproducing a human action with a robot. The approach includes receiving data representing motions and contact forces of the human as the human performs the action. The approach further includes approximating, based on the motions and contact forces data, the center of mass (CoM) trajectory of the human in performing the action. Finally, the approach includes generating a planned robot action for emulating the designated action by solving an inverse kinematics problem having the approximated human CoM trajectory as a hard constraint and the motion capture data as a soft constraint.Type: ApplicationFiled: December 5, 2011Publication date: June 7, 2012Applicant: DISNEY ENTERPRISES, INC.Inventors: Michael MISTRY, Akihiko MURAI, Katsu YAMANE, Jessica Kate HODGINS
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Patent number: 8145440Abstract: A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model.Type: GrantFiled: January 5, 2009Date of Patent: March 27, 2012Assignee: Japan Science and Technology AgencyInventors: Yoshihiko Nakamura, Katsu Yamane, Ichiro Suzuki, Kazutaka Kurihara, Koji Tatani
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Publication number: 20110304633Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: ApplicationFiled: June 8, 2011Publication date: December 15, 2011Inventors: Paul Beardsley, Javier Alonso Mora, Andreas Breitenmoser, Martin Rufli, Roland Siegwart, Iain Matthews, Katsu Yamane
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Publication number: 20110292055Abstract: Systems, methods and products for animating non-humanoid characters with human motion are described. One aspect includes selecting key poses included in initial motion data at a computing system; obtaining non-humanoid character key poses which provide a one to one correspondence to selected key poses in said initial motion data; and statically mapping poses of said initial motion data to non-humanoid character poses using a model built based on said one to one correspondence from said key poses of said initial motion data to said non-humanoid character key poses. Other embodiments are described.Type: ApplicationFiled: May 25, 2011Publication date: December 1, 2011Applicant: Disney Enterprises, Inc.Inventors: Jessica Kate Hodgins, Katsu Yamane, Yuka Ariki
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Publication number: 20100250001Abstract: Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system.Type: ApplicationFiled: March 24, 2010Publication date: September 30, 2010Applicant: Disney EnterprisesInventors: Jessica K. Hodgins, Katsu Yamane