US 11,850,747 B2
Action imitation method and robot and computer readable medium using the same
Miaochen Guo, Shenzhen (CN); Jun Cheng, Shenzhen (CN); Jingtao Zhang, Shenzhen (CN); Shuping Hu, Shenzhen (CN); Dong Wang, Shenzhen (CN); Jianxin Pang, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 4, 2020, as Appl. No. 17/112,569.
Claims priority of application No. 201911227303.6 (CN), filed on Dec. 4, 2019.
Prior Publication US 2021/0170580 A1, Jun. 10, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06N 3/08 (2023.01)
CPC B25J 9/161 (2013.01) [B25J 9/1697 (2013.01); B25J 19/023 (2013.01); G06N 3/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented action imitation method for a robot, comprising steps of:
collecting a plurality of action images of a to-be-imitated object;
processing the action images through a pre-trained convolutional neural network to obtain a position coordinate set of position coordinates of a plurality of key points of each of the action images, wherein two adjacent ones of the key points are connected to form a plurality of linkages;
calculating a rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images; and
controlling the robot to move according to the rotational angle of each of the linkages of the to-be-imitated object;
wherein the step of calculating the rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images comprises:
calculating a length of each of the linkages of the to-be-imitated object based on the position coordinate set; and
calculating the rotational angle of each of the linkages of the to-be-imitated object based on the length of each of the linkages of the to-be-imitated object and a preset maximum length of each of the linkages of the to-be-imitated object.