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Motion generating method for man-shape link system

A connecting rod and motion technology, applied in the field of motion generation software for computer graphics technology, can solve problems such as no consideration of mechanics, no interactivity, and difficult parameter adjustment

Inactive Publication Date: 2004-04-07
THE UNIV OF TOKYO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] (3) Long calculation time
[0009] (4) It is difficult to adjust parameters
[0011] (6) No interactivity
[0012] In addition, in the related invention "method for generating posture and movement of a wooden linkage system" previously filed by the inventor of the present application in the application No. 2001-242435, motion can be generated without reference and without parameters, but Mechanics are not taken into account at all, so it is possible to generate motion that would not exist physically

Method used

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Embodiment Construction

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, an outline of the above-mentioned related invention "method of generating posture and motion of a wooden linkage system" which is the basis of the interface used in the motion generation method of the humanoid linkage system of the present invention will be shown. In this method, as figure 2 As shown, when several links of the man-shaped linkage system (links a, b, c in the figure) are fixed in space, and the track of another link (d in the figure) is indicated at the same time, Generate a full-body motion that satisfies the constraints of a fixed link and moves on a track. Not only the position of the link can be given, but also the constraint of the movable area of ​​the joint or the target value of the joint can be given. However, in this method, since kinematic constraints are not taken into consideration, mechanically unnatural motion may be gener...

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Abstract

This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration

Description

technical field [0001] The present invention relates to a method for mechanically realizable motion of a linkage system (humanoid linkage system) having a structure similar to that of a human being, and the method of the invention can be used in motion generation software for humanoid robots, such as Real-time control devices for human-robots, or motion generation software for computer graphics technology. Background technique [0002] Humanoid model or humanoid robot (humanoid robot) in computer graphics technology (CG) has an extremely unstable motion form such as walking on two legs, which is generated by the force received from the environment such as the floor and its own joints There is a limit to the movement achievable by the torque. Therefore, in a humanoid robot, if a mechanically realizable motion can be generated in advance, the control of the robot will be easy. Furthermore, in the field of CG animation, natural animation can be easily generated by automatical...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22B25J5/00B25J9/16B25J13/00B62D57/032G06T13/40
CPCG06T13/40G05B2219/40517G05B2219/40316G05B2219/39323B25J9/1633G06N3/00
Inventor 中村仁彦山根克丹下学
Owner THE UNIV OF TOKYO
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