| 摘要 |
PROBLEM TO BE SOLVED: To interactively produce a feasible motion for a human type link system such as a human type model with multidegree of freedom and a humanoid based on an input from an intuitive and simple interface. SOLUTION: A link to be fixed, a movable range, and a joint target value are set and a prescribed link track is specified by a joy stick, etc. When a target joint acceleration of a joint of the human type link system calculated only from kinematic constraint conditions is determined to be infeasible by a validity determination of an external force calculated based on inverse dynamic calculation, new constraint conditions taking account of the dynamics are added thereto and the joint acceleration is calculated again, or formulated dynamic constraint conditions and dynamic constraint conditions are simultaneously solved using an operation space inverse inertia matrix expressing a relation between a force applied to the link and the acceleration produced thereby, so that the dynamically feasible motion of the joint of the human type link system is produced. COPYRIGHT: (C)2003,JPO
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