| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform an operation that applies a desired amount of torsion to a bone at high speed with a small amount of calculation for a skelton model. <P>SOLUTION: In a skelton model in which plural bones are connected via one or more joints, a method controls a torsion angle of an effector relative to a torsion axis. The effector is an end point of the joint or the bone and a target to be controlled in a desired status with respect to at least either one of a position or a direction in a three-dimentional space. The method includes: a fixed point determining step to determine respective points of one or more fixed points in the skelton model; a torsion axis determining step to determine the torsion axis on the basis of a position of the effector and the respective positions of the at least one or more fixed points; and a first closed path moving step to move the effector along with a first closed path on a plane substantially vertical to the torsion axis. <P>COPYRIGHT: (C)2012,JPO&INPIT |
