| 摘要 |
The present invention provides an animation creation program whereby the posture of a structure comprising a plurality of links can be determined by means of a simpler and easer operation. In accordance with the movement of one link in the structure comprising a plurality of links, the animation creation program of the present invention automatically determines the spatial positions of the other links of the structure so that the structure retains a posture that is as natural as possible. The animation creation program of the present invention uses, for example, inverse kinematics computation that is a computation method for controlling a human-type robot (humanoid) and is based on a matrix known as a Jacobian and the inverse matrix thereof which is known as the Singularity-Robust Inverse (SR-Inverse). By using this computation method in an animation creation program, in the creation of an animation of a structure comprising a plurality of links, it is possible, when moving one link of a structure displayed on a screen, to automatically determine the positions of the other links of the structure so that the posture of the structure as a whole does not become unnatural, and to create an animation of the structure comprising a plurality of links by means of a simpler and easer operation. <IMAGE> |
