Patent ID: 6326971
Filing Date: 2001-12-04
Classification: G05B

Abstract:
Installation for controlling a movable apparatus (1) resembling a living being, or a two-dimensional simulation thereof, which apparatus is provided with artificial limbs, with means (3) for receiving a control signal and with means (2) for generating drive signals for the artificial limbs, which installation comprises:a user interface (5) provided with input means (13) for the entering of commands by a user (4),a central processing unit (6) which is connected via a first communications line (11) to the user interface and comprises:first memory means (20) storing pre-recorded basic movement data of the apparatus (1);read means (8) to read data from said first memory means (20);editor means (7) to receive said data from said read means and to calculate transitional movements between subsequent basic movements and to move the apparatus accordingly, such that an orientation of an artificial limb at the end of a basic movement is equal to an orientation of said limb at the start of a subsequent transitional movement and that an orientation of an artificial limb at the end of said subsequent transitional movement is equal to an orientation of said limb at the start of a subsequent basic movement,characterized in that said editor means (7) are also arranged to calculate said transitional movements such that the speed of change of the acceleration of the limbs is selected to have a minimum value for a desired speed.