| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot having a motion style of a character defined by animation data obtained from computer animation data files.SOLUTION: The robot is generated using a robot development method that obtains animation data for a character walking or performing other movements. The character may be humanoid, and the method includes developing a bipedal robot with a lower portion having a kinematic structure matching the kinematic structure of the lower portion of the animation character defined in the animation data. A control program for the robot is generated, e.g., by using trajectory optimization. The control program includes an open-loop walking trajectory that mimics the character's walking motion provided in the animation data. The open-loop walking trajectory is generated by modifying the motion of the character from the animation data such that the Zero Moment Point (ZMP) stays in the contact convex hull.SELECTED DRAWING: Figure 2 |
