MOTION GENERATION DEVICE, MOTION GENERATION METHOD, AND MOTION GENERATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To realize motion blending which maintains high speed for processing and also performs natural motion transition.

SOLUTION: A motion generation device comprises: a motion data acquisition unit 10 for acquiring two pieces of motion data; a transition point specification unit 20 for specifying blending start points and blending end points in the two pieces of motion data; a physical amount changing processing unit 30 for calculating route velocity and route angular velocity for the two pieces of motion data; a blending section calculation unit 40 for calculating a blending section on the basis of time series information indicating joint directions included in the motion data after the blending start points and the motion data before the blending end points; a route direction processing unit 50 for calculating a blending route direction by performing blending processing on the route angular velocity in the blending section; a route position adjustment unit 60 for adjusting a route speed according to the blending route direction; and a route position processing unit 70 for performing blending processing on the adjusted route velocity.

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