Controlling the operation of the site of the physical multi-joint systems, methods of using the computer system for controlling the operation of the site of the physical articulated system, the human and the human physical articulated system that is separate from method used to follow the operation, the computer system is a human by physical articulated systems separate to follow the human behavior, and the movement of the site of the physical articulated system separate from the source system to control, a method using a computer

摘要

Based on the observation of the source system, the control system and method of the present invention generates a joint variables for position or operation of the target system. Operations to replicate the target system to become more accurate, and fully utilize the redundancy of the target system, the control method and system includes a balance control and restraint control.