MOTION EDITING DEVICE FOR LEG TYPE MOVING ROBOT AND MOTION EDITING METHOD

摘要

PROBLEM TO BE SOLVED: To support editing work of a motion pattern by taking attitude stability at the time of execution in an actual machine into account. SOLUTION: A motion editing part 1002 performs interpolation of movement between poses in accordance with a pose of a machine body inputted from an operator through a pose inputting part 1001 to edit motion. An attitude stabilization processing part 1003 verifies whether the motion edited in the motion editing part 1002 can operate while stabilizing the attitude in the actual machine or not based on ZMP stability degree discrimination standard and corrects into a motion pattern in which attitude stabilization is possible. COPYRIGHT: (C)2003,JPO