| 摘要 |
PURPOSE: A walking-motion transformation animation method is provided to make a real time realization by modifying route position and direction after changing walking-motion data to be circulated. CONSTITUTION: A walking-motion transformation stage is composed of an initialization stage(301), a leg length adjusting stage(302), a walking width adjusting stage(303), a static kinematics calculation stage(304), and a route position and direction correction stage(305). The initialization stage(301) initializes a leg length constant and a walking width constant, and receives input of walking-motion data of frame unit including Oiler's rotation angle by each frame against parent joint region coordinate of each joint region coordinate according to initial route coordinate value, foot coordinate value, body class structure. The leg length adjusting stage(302) sets up walking period and circulation motion section for continuous walking-motion and gets information about foot to be fixed on floor. The walking width adjusting stage(303) receives user's input about direction conversion, leg length and walking width. The static kinematics calculation stage(304) adjusts leg length and walking width and corrects route coordinates value and processing direction using static kinematics. The route position and direction correction stage(305) indicates human model on screen using the result of the static kinematics calculation stage(304). |
