| 摘要 |
PROBLEM TO BE SOLVED: To simply control the body movement of a robot using a simple controller by storing the information corresponding to a compressed joint angle obtained by dimensionally compressing each joint angle about a predetermined movement. SOLUTION: A humanoid robot 10 includes 22 joints, wherein a predetermined movement is performed by the 22 joints. A matrix of the time-series change of a joint angle command value about the 22 joints when a certain movement is performed is dimensionally compressed by singular value decomposition. That is, the number of effective singular values is decreased. Thus, the control information of the robot 10 is reduced. COPYRIGHT: (C)2007,JPO&INPIT
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