| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform inverse kinematic calculation with shape information that requires no correspondence to each link as an input, in a multi-degree freedom link system. <P>SOLUTION: The action/posture generating method acquires generalized coordinates which determines a shape of a multi-link system model by inverse kinematics. A characteristic which represents a shape is taken as a reference value. The characteristic representing a shape is a first high-order characteristic that is calculated from the position information of a plurality of first feature points forming a geometric shape. On the multi-link system model, a plurality of second characteristics related to a specific link of the model are defined. The second high-order characteristic is calculated from the position information of the plurality of second feature points. By updating the second high-order characteristic, a Jacobian matrix for a generalized coordinates of the second high-order characteristic, and the generalized coordinates by numerical calculation, a difference between the second high-order characteristic and the first high-order characteristic is minimized, for obtaining a generalized coordinates of a multi-link system model. <P>COPYRIGHT: (C)2012,JPO&INPIT |
