Patent ID: 7199301

Claim:
A process for real-time motion control of an articulated object, comprising the steps of: a) defining at least one motion pattern for the articulated object, wherein the motion pattern includes a manipulation of a plurality of articulations controlled by a single input signal, b) defining at least one surface pattern for the articulated object, c) inputting analog control signals by means of an analog input device, whereby the analog control signals correspond to real-time translational or rotational manipulation by a user of the analog input device, d) assigning the analog control signals to motion patterns or surface patterns freely specified by the user, e) computing skeletal amendment data on the basis of the analog control signals as parameter values and also on the basis of the at least one motion pattern, whereby the skeletal amendment data reproduce translational amendments to the position or rotational amendments to the orientation of articulations of the articulated object, and f) computing the surface of the articulated object on the basis of the skeletal amendment data and on the basis of the at least one surface pattern, wherein steps c), d), e), and f) are repeated cyclically, in order to obtain a real-time motion control of the articulated object in a manner dependent on the analog control signals.