Motion creation device, motion creation method, and motion creation program

Abstract

To provide a motion creation device that can easily create a multi-joint structure.SOLUTION: A motion creation device includes: a key pause registration unit for registering a plurality of key pauses of a multi-joint structure by using an input device and presenting a key pause registration region 32 for showing elements indicating the registered key pauses; and a key pause editing unit for selecting elements showing the key pauses of the kay pause registration region 32 by using the input device, arranging the elements in time sequence, and presenting a key pause edition region 33 for editing the key pauses.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a motion creation device, a motion creation method, and a motion creation program for a multi-joint structure. [Background technology]

[0002] The development of service robots and humanoid robots is progressing. Service robots perform actions (motions) to support human daily life. Humanoid robots have a human-like appearance and perform motions in the same way as humans. In recent years, there has been a growing need to enable articulated robots such as service robots and humanoid robots to perform a variety of motions. As a result, the development of motion creation devices for articulated robots is becoming increasingly important.

[0003] Conventionally, motion creation devices have been known that create individual programs to match the motion of an articulated robot (i.e., directly edit the time-series data of the joint angles of the articulated robot). While these motion creation devices can make the articulated robot perform a variety of motions, they have the problem that creating the motions is tedious and only robot experts can create the motions. It is desirable that even general users who are not robot experts can create motions.

[0004] To solve this problem, a user interface has been developed that allows motion creation simply by providing key poses for an articulated robot (see, for example, Patent Document 1). A key pose is a specific pose (posture) that an articulated robot takes at a specific time. The purpose of key poses is to enable an entire motion to be composed of a relatively small number of poses. This motion creation device presents, as a user interface, a key pose editing area for registering multiple key poses in chronological order. When the user registers key poses in the key pose editing area in chronological order, a motion is created so that each key pose appears at a specific timing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2008-254074 A (paragraph

[0005]

[0006] , see Figure 4) Summary of the Invention [Problem to be solved by the invention]

[0006] However, in conventional motion creation devices, the user must register multiple key poses in the key pose editing area, which means that if the same key pose appears multiple times, the user must register the key pose each time, which makes creating motions time-consuming. Furthermore, there is no mechanism for displaying an overview of the motion, which makes it difficult to understand the content of the motion until it is played.

[0007] Similar problems exist not only in motion creation devices that create motions for articulated robots (articulated structures), but also in motion creation devices that create animations for CG characters (articulated structures).

[0008] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a motion creation device that can easily create motions for articulated robots, animated CG characters, etc. [Means for solving the problem]

[0009] In order to solve the above problem, one aspect of the present invention is a motion creation device for a multi-joint structure, comprising: a key pose setting unit that presents a key pose setting area for setting a key pose of the articulated structure; Input Devices and the key pose setting area Using configured Register multiple key poses of a multi-joint structure and represent the registered multiple key poses. Multiple Iconsa key pose registration unit that presents a key pose registration area for displaying a key pose; and a key pose registration unit that presents a key pose registration area for displaying a key pose using the input device. icon a key pose editing unit that selects and arranges the key poses in a chronological order, and presents a key pose editing area for editing the key poses; In the key pose registration area, a plurality of icons representing a plurality of pre-registered key poses are displayed, and by dragging and dropping the icons representing the key poses in the key pose registration area using the input device, the icons representing the key poses in the key pose registration area are arranged in the key pose editing area. It is a motion creation device. [Effects of the Invention]

[0010] According to the present invention, motions are created based on multiple pre-registered key poses, making it possible to reuse key poses and easily create motions. Complex motions can also be easily created depending on the number of elements representing key poses placed in the key pose editing area. In addition, because the elements representing key poses are placed in chronological order in the key pose editing area, the general motion can be understood without playing the motion. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is an external view of an articulated robot whose motions are created by the motion creation device of this embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating an example of the configuration of a control system for an articulated robot. [Figure 3] 1 is a block diagram showing an example of the functional configuration of a motion creation device according to an embodiment of the present invention; [Figure 4] 10 is a flowchart showing a processing procedure for creating a motion of an articulated robot by the motion creation device of this embodiment. [Figure 5] FIG. 10 is a diagram showing a key pose setting area, a key pose registration area, and a key pose editing area presented as an interface on the screen of a display device. [Figure 6] FIG. 6 is an enlarged view of the key pose editing area in FIG. 5. [Figure 7] FIG. 10 is a diagram showing a key pose setting area, a key pose registration area, and a key pose editing area presented as an interface on the screen of a display device. [Figure 8]1 is a block diagram showing an example of the hardware configuration of a motion creation device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a motion creation device, method, and program according to an embodiment of the present invention will be described with reference to the accompanying drawings. However, the present invention can be embodied in various forms and is not limited to the embodiments described herein. The present embodiment is provided with the intention of enabling those skilled in the art to fully understand the invention by providing sufficient disclosure in the specification. <Configuration of an articulated robot>

[0013] FIG. 1 shows an external view of an articulated robot 1 whose motions are created by the motion creation device of this embodiment. This articulated robot 1 comprises a waist 2, a torso 4, two arms 6 (left and right), and a head 11. The articulated robot 1 of this embodiment is a service robot or humanoid robot, and has the shape of a human's upper body and performs motions similar to a human. The motions of the articulated robot 1 are controlled by a control unit 17 (see FIG. 2) built into the torso 4, for example.

[0014] The torso 4 is connected to the waist 2 via a waist joint 3. The head 11 is connected to the torso 4 via a neck joint 10. The arms 6 are connected to the torso 4 via a shoulder joint 5. Each arm 6 includes an upper arm 7 and a lower arm 8 connected to the upper arm 7 via an elbow joint 9. Hands 14 are connected to the lower arms 8 via wrist joints 12. The hands 14 include a palm 13 and fingers 15 connected to the palm 13 via knuckles 16.

[0015] For example, the waist joint 3 has three degrees of freedom: pitch, roll, and yaw. The neck joint 10 has three degrees of freedom: pitch, roll, and yaw. The shoulder joint 5 has three degrees of freedom: pitch, roll, and yaw. The elbow joint 9 has one degree of freedom: pitch. The lower arm 8 has one degree of freedom: yaw. The wrist joint 12 has two degrees of freedom: pitch and roll. The finger joint 16 has one degree of freedom: roll.

[0016] Figure 2 shows a schematic diagram of an example of the control system configuration of the articulated robot 1. A1 to A7 are joint actuators incorporated into each joint. 17 is a control unit for the articulated robot. A1 is a waist joint actuator, A2 is a neck joint actuator, A3 is a shoulder joint actuator, A4 is an elbow joint actuator, A5 is a lower arm actuator, A6 is a wrist joint actuator, and A7 is a finger joint actuator.

[0017] Each degree of freedom of each joint is realized by a motor and gears. For example, the neck joint actuator A2, which has three degrees of freedom, is equipped with three motors and three gears.

[0018] The control unit 17 includes a main control unit 17a and a peripheral circuit 17b. The main control unit 17a includes a CPU, memory, etc. The peripheral circuit 17b includes a power supply circuit, an interface for transmitting and receiving data and commands to and from a motion creation device or each of the joint actuators A1 to A7, etc. Each of the joint actuators A1 to A7 includes a driver. The driver of each of the joint actuators A1 to A7 controls the motor in accordance with the data and commands sent from the control unit 17.

[0019] The parts, joints, and degrees of freedom of the joints of the articulated robot 1 are not limited to those described above and can be set in various ways. For example, two legs for leg-type movement may be provided below the waist. <Motion Creation Device>

[0020] The motion of the articulated robot 1 is created by a motion creation device. The inventor has developed a motion creation device that can be implemented on a general personal computer. The motion creation device of this embodiment is equipped with a user interface that allows the user to create motion of the articulated robot 1 simply by providing key poses for the articulated robot 1. A key pose is a specific pose (posture) that the articulated robot 1 takes at a specific time. A key pose is described by the joint angles of each joint of the articulated robot 1. The motion creation device creates motions so that each key pose appears at a specific time. By using this motion creation device, even general users who are not robot experts can easily create motions.

[0021] The key pose can be associated with any combination of parts of the articulated robot 1. In this example, the key pose is associated with the upper body of the articulated robot 1 excluding the face, but in the case of a legged robot, the key pose may be associated with the entire body of the articulated robot 1. The key pose may also be associated with the face of the articulated robot 1.

[0022] 3 is a block diagram showing an example of the functional configuration of the motion creation device 21 of this embodiment. The motion creation device 21 includes a key pose setting unit 22 that presents an interface for setting key poses, a key pose registration unit 23 that presents an interface for registering key poses, and a key pose editing unit 24 that presents an interface for editing key poses. <Setting the key pose>

[0023] 4 is a flowchart showing the processing steps for creating a motion of the articulated robot 1 by the motion creation device 21 of this embodiment. First, the motion creation device 21 presents a key pose setting area 31 (see FIG. 5) for setting a key pose, a key pose registration area 32 (see FIG. 5) for registering the key pose, and a key pose editing area 33 (see FIG. 5) for editing the key pose (S1).

[0024] Fig. 5 shows an example of the screen configuration of a display device. Reference numeral 31 denotes a key pose setting area, 32 denotes a key pose registration area, and 33 denotes a key pose editing area. The user sets a key pose in key pose setting area 31 and registers the key pose in key pose registration area 32 (Fig. 4, (S2)).

[0025] The key pose setting area 31 includes a scene area 31a that displays CG (Computer Graphics) of the articulated robot 1, and a joint slider display area 31b that displays the joint angles of each joint of the articulated robot 1.

[0026] The user can assign a desired movement to a specified part (for example, the lower arm of the right arm) of the CG of the articulated robot 1 in the scene area 31a by placing the mouse pointer on that part and dragging it. In the example shown in FIG. 5, the CG of the articulated robot 1 is assigned a movement in which the right arm swings to the right. When a movement is assigned to the specified part, the key pose setting unit 22 (see FIG. 3) calculates the joint angle of each joint using inverse kinematics. This sets the key pose.

[0027] A key pose can also be set by directly inputting the joint angle in the joint slider display area 31b. For example, the user can input the desired joint angle by clicking the tab 41 at the top of the joint slider display area 31b with the mouse, and then placing the mouse pointer on the slider 40 and dragging it. Alternatively, the user can click the joint angle input box 34 with the mouse and then input the desired joint angle using the keyboard. By inputting the joint angle using the slider 40 or the joint angle input box 34, the key pose is set directly.

[0028] In addition to the above, the key pose may be set by inputting joint angles obtained by motion capture that captures human movements or direct teaching that moves an actual machine. <Registering key poses>

[0029] After setting a key pose, when the user registers the key pose, the key pose registration unit 23 (see FIG. 3) displays an icon of the key pose in the key pose registration area 32 as shown in FIG. 5 (FIG. 4, (S3)).

[0030] Specifically, when the user clicks the "Save" button in the key pose registration area 32 with the mouse, an icon is created and the key pose is saved. The key pose registration area 32 displays multiple key pose icons according to the number of registered key poses. When the user selects an icon in the key pose registration area 32 with the mouse and clicks the "Load" button, the key pose of the selected icon is displayed in the scene area 31a, and the CG of the articulated robot 1 moves, allowing the user to confirm the key pose. It is also possible to operate the articulated robot 1 and confirm the key pose. The key pose registration area 32 shown in FIG. 5 displays an icon "pose_0" of an upright key pose, an icon "pose_1" of a key pose with the right hand swung to the right, an icon "pose_2" of a key pose with the right hand swung further to the right, and an icon "pose_3" of a key pose with the right hand swung to the left (although the icon "pose_3" is cut off in FIG. 5, the icon "pose_3" actually swings the right hand to the left (see the enlarged view of the icon "pose_3" in FIG. 6)).

[0031] Instead of displaying icons in the key pose registration area 32, character strings, numbers, etc. representing the key poses may be displayed. <Edit key pose>

[0032] Next, the user selects a key pose icon from the key pose registration area 32 and places it in chronological order in the key pose editing area 33 (FIG. 4, (S4)). As shown in FIG. 5, a timeline 42, whose horizontal axis represents time, is displayed above the key pose editing area 33. A motion track 43, on which the key pose icons are to be placed, is displayed on the timeline 42. The user places the icon from the key pose registration area 32 on the timeline 42 in the key pose editing area 33 by placing the mouse pointer on the icon and dragging and dropping it.

[0033] FIG. 6 shows an enlarged view of the key pose editing area 33. On the timeline 42, the following icons are arranged in order from left to right: a "pose_0" icon, a "pose_1" icon, a "pose_2" icon, a "pose_3" icon, and a "pose_0" icon. Looking at the key pose icons arranged on the timeline 42, it can be seen that they are motions of waving the right hand from side to side. When the user arranges a key pose icon on the timeline 42, the key pose editing unit 24 (see FIG. 3) surrounds the icon with a speech bubble-shaped frame. This allows the user to accurately grasp the position where the key pose is arranged.

[0034] In the key pose editing area 33, the placement location of the key pose icon can be moved using the mouse. That is, by placing the pointer on an icon on the timeline 42 with the mouse and dragging it, the key pose icon moves on the timeline 42. This allows for fine adjustment of the placement location of the key pose icon.

[0035] In the key pose editing area 33, when the location of a key pose icon is moved, the locations of the subsequent key pose icons also move in conjunction with it. For example, when the "pose_3" icon, second from the right, is moved left or right, the "pose_0" icon, first from the right, also moves left or right in conjunction with the "pose_3" icon. This allows the subsequent motion of a key pose to be maintained.

[0036] When the user places a key pose icon on the timeline 42, the key pose editing unit 24 (see FIG. 3) edits the motion so that the key pose occurs at the time when the key pose icon is placed (FIG. 4, (S5)). The key pose editing unit 24 also outputs motion data to the control unit 17 of the articulated robot 1 (FIG. 4, (S6)). The motion data is data that describes the time-series movements of the articulated robot 1.

[0037] The key pose editing unit 24 creates motion data by interpolating between adjacent key poses using a method such as linear interpolation or spline interpolation. Note that the interpolation may be performed on a joint-by-joint basis of the articulated robot 1, or on a part (link)-by-part basis of the articulated robot 1. Alternatively, non-interpolated motion data may be sent to the control unit 17 of the articulated robot 1, and control may be left to the control unit 17 of the articulated robot 1.

[0038] Reference numeral 45 in Figure 5 denotes a play button. When the user clicks the play button with the mouse, the key pose editing unit 24 plays the motion in the CG of the articulated robot 1 displayed in the scene area 31a based on the created motion data. The key pose editing unit 24 also moves the playback time line 46 to the right to match the playback time. This allows the user to preview the latest motion.

[0039] Reference numeral 47 in Fig. 5 denotes a time slider. When the user drags the time slider with the mouse, the CG motion of the articulated robot 1 at that time is played back, and the playback time line moves left and right.

[0040] 5 is a button for outputting motion data to the articulated robot 1. When the user clicks the "actual operation" button 48 with a mouse, the motion data is output to the articulated robot 1, and the articulated robot 1 operates based on the output motion data.

[0041] The key pose editing unit 24 may allow the user to modify the key pose after placing the key pose icon on the timeline 42. The key pose editing unit 24 may then display the modified key pose icon in the key pose editing area 33 and edit the motion so that the modified key pose occurs at the time when the modified key pose icon is placed. If the articulated robot 1 is, for example, a legged robot, the key pose editing unit 24 may modify the motion based on the ZMP (Zero Moment Point) so that the articulated robot 1 does not tip over. The key pose editing unit 24 may then display the modified key pose icon in the key pose editing area 33. In the case of a legged robot, the motion creation device 21 of this embodiment may create motion data for the upper body of the articulated robot 1, create motion for the lower body of the articulated robot 1 based on a walking command, and combine these. <Editing media data>

[0042] As shown in the key pose editing area 33 in FIG. 7, the user can use the mouse to place at least one of media data of audio, video, and images in a media track 44 on the timeline 42.

[0043] When the user uses the mouse to click on the "Voice" tab 50 in the key pose registration area 32 in Fig. 7, the file names of pre-registered voice data are displayed. In Fig. 7, the file names "voice1," "voice2," and "voice3" are displayed. To register voice data, simply click on the "import" button 51 with the mouse.

[0044] If the user places the mouse pointer on the file name in the key pose registration area 32, drags it, and drops it into the key pose editing area 33, the audio data can be placed on the timeline 42 in the key pose editing area 33. Fig. 7 shows an example in which audio data for "voice1," "voice2," and "voice3" are placed in this order from left to right.

[0045] When the user clicks the play button 45 with the mouse, the key pose editing unit 24 causes the playback device to play a sound such as "Welcome. I'll navigate you." based on the sound data arranged on the timeline 42. This allows the created motion and sound to be synchronized. The playback device may be provided in the articulated robot 1, or in a device such as a monitor, amplifier, or speaker arranged near the articulated robot 1.

[0046] In the key pose editing area 33, the user can use the mouse to move the location of the audio data on the timeline 42. That is, by placing the mouse pointer on the audio data and dragging it, the location of the audio data can be moved. This allows the playback time of the audio data to be finely adjusted to match the motion.

[0047] In addition, in the key pose editing area 33, the user can adjust the playback period of the audio data using the mouse. A white bar on the left or right end of the audio data indicates that the audio data will be played from the beginning (0 seconds) or until the end, while a diagonal bar on the left or right end of the audio data indicates that the audio data will be played from the middle or until the end. When the user places the audio data on the timeline 42 in the key pose editing area 33, the left and right bars are displayed as white bars. When the user drags the white bar, the white bar changes to a diagonal bar. Furthermore, when the diagonal bar is moved back to the beginning or end of the audio data, the diagonal bar changes to a white bar. This allows the playback period of the audio data to be finely adjusted to match the motion of the articulated robot 1 (for example, from 2 seconds to 4 seconds of 5 seconds of audio data can be played). Figure 6 shows an example in which the audio data of "voice1" is played from the beginning to 2 seconds, the audio data of "voice2" is played from 1 second to the end, and the audio data of "voice3" is played from 1 second to 2 seconds. <Example of hardware configuration for motion creation device>

[0048] 8 is a block diagram showing an example of the hardware configuration of the motion creating device 21 of this embodiment. The hardware of the motion creating device 21 is, for example, a general-purpose information processing device such as a personal computer.

[0049] 8, the motion creation device 21 includes a CPU 62, a ROM 63, a RAM 64, a display device 65, a keyboard 66, a mouse 67, a storage device 68, a communication interface 69, a VRAM 70, a key scan circuit 71, a mouse scan circuit 72, a sound source unit 73, a sound system 74, and a bus 75. The display device 65 is connected to the bus 75 via the VRAM 70. The keyboard 66 is connected to the bus 75 via the key scan circuit 71. The mouse 67 is connected to the bus 75 via the mouse scan circuit 72. The mouse 67 may be a tablet, a touch screen, a touch panel, or the like.

[0050] The display device 65 is a liquid crystal display, an organic EL display, or the like. A key pose setting area 31, a key pose registration area 32, and a key pose editing area 33 are displayed on the screen of the display device 65. A user can give instructions by operating a mouse 67 or a keyboard 66. A mouse scan circuit 72 detects the movement and operation of the mouse 67 and outputs a detection signal to the CPU 62 via a bus 75. The keyboard 66 has keys for inputting letters, numbers, symbols, etc. A key scan circuit 71 detects whether the keyboard 66 is on or off and outputs a detection signal to the CPU 62.

[0051] The storage device 68 is, for example, a hard disk, a CD-ROM, a DVD, or a memory card, etc. The storage device 68 stores a motion creation program, the states of the links and joints of the articulated robot 1, data of registered key poses, data of key poses arranged on the timeline 42, media data, the key pose setting area 31, the key pose registration area 32, the key pose editing area 33, drawing information for icons, created motion data, etc.

[0052] The CPU 62 loads the motion creation program stored in the storage device 68 into the RAM 64. When the CPU 62 executes the motion creation program loaded into the RAM 64, the functions of the key pose setting unit 22, key pose registration unit 23, and key pose editing unit 24 of the motion creation device 21 are realized. The RAM 64 temporarily stores information used in the processing of the CPU 62.

[0053] The communication interface 69 is an interface connected to a communication network such as a USB, a LAN, or the Internet. The articulated robot 1 is connected to the communication interface 69 via a wired or wireless connection. The communication interface 69 transmits signals to the articulated robot 1 and receives signals from the articulated robot 1.

[0054] The sound source unit 73 includes software as a sound source and a DSP for adding effects. The sound source unit 73 generates a sound signal based on the audio data edited by the key pose editing unit 24, and outputs the sound signal to the sound system 74. The sound system 74 has a D / A converter, an amplifier, and a speaker, and produces a simulation sound based on the sound signal. <Effects of the motion creation device of this embodiment>

[0055] The configuration of the motion creation device 21 of this embodiment has been described above. The motion creation device 21 of this embodiment has the following advantages.

[0056] Motions are created based on multiple pre-registered key poses, allowing for the reuse of key poses and making motion creation easier. Complex motions can be easily created depending on the number of key pose icons placed in the key pose editing area 33. In addition, the key pose icons are placed in chronological order in the key pose editing area 33, so you can get a general idea of ​​the motion without having to play it back.

[0057] By dragging and dropping an icon from the key pose registration area 32, it can be placed in the key pose editing area 33, making it easy to edit the key pose.

[0058] In the key pose editing area 33, the location of the key pose icon can be moved using the mouse, so the location of the key pose icon can be adjusted in detail.

[0059] In the key pose editing area 33, when the location of an icon of a certain key pose is moved, the icons of the following key poses move in conjunction with it, so that the subsequent motion of the certain key pose can be maintained.

[0060] At least one of audio, video, and image media data can be arranged in chronological order in the key pose editing area 33, so the created motion can be synchronized with audio, video, etc. Furthermore, the playback timing of audio, video, etc. can be determined without playing the audio, video, etc.

[0061] In the key pose editing area 33, the placement location of media data can be moved using the mouse, allowing for detailed adjustment of the playback timing of audio, video, etc.

[0062] In the key pose editing area 33, the playback section of the media data can be adjusted using the mouse, so that the playback section of the audio, video, etc. can be finely adjusted.

[0063] The key pose editing unit 24 interpolates between key poses to create motion data describing the time-series movements of the articulated robot 1, so that the key poses can be smoothly connected.

[0064] The motion is reproduced in CG (Computer Graphics) of the articulated robot 1 based on the motion data created by the key pose editing unit 24, so that the motion can be previewed.

[0065] Since the CG of the articulated robot 1 and / or the joint angles of the articulated robot 1 are displayed in the key pose setting area 31, it is easy to set the key pose of the articulated robot 1.

[0066] The motion creation device of the present invention is not limited to being embodied in the above-described embodiment, and can be embodied in other embodiments without departing from the spirit of the present invention.

[0067] In the above embodiment, an example was described in which the object for which motions were created was an articulated robot. However, the object for which motions were created may also be a CG character or toy in animation. When the skeleton of a CG character or toy is represented by a skeletal model using links corresponding to bones and joints connecting the links, the posture at a certain time can be defined as a key pose. Therefore, motions can be created using the same mechanism as for an articulated robot. [Explanation of symbols]

[0068] 1... Articulated robot (articulated structure), 21... Motion creation device, 22... Key pose setting unit, 23... Key pose registration unit, 24... Key pose editing unit, 31... Key pose setting area, 32... Key pose registration area, 33... Key pose editing area, 65... Display device, 66... ​​Keyboard (input device), 67... Mouse (input device)

Claims

1. A motion creation device for an articulated structure, a key pose setting unit that presents a key pose setting area for setting a key pose of the articulated structure; a key pose registration unit that registers a plurality of key poses of the articulated structure set using an input device and the key pose setting area, and presents a key pose registration area for displaying a plurality of icons representing the registered plurality of key poses; a keypose editing unit that uses the input device to select icons representing key poses in the key pose registration area, arranges them in time series, and presents a key pose editing area for editing key poses; In the key pose registration area, a plurality of icons representing a plurality of pre-registered key poses are displayed, The motion creating device arranges icons representing key poses in the key pose registration area in the key pose editing area by dragging and dropping the icons representing key poses in the key pose registration area using the input device.

2. 2. The motion creation device according to claim 1, wherein the location of an icon representing a key pose can be moved in the key pose editing area using the input device.

3. 3. The motion creation device according to claim 2, wherein when the location of an icon representing a certain key pose is moved in the key pose editing area, the location of an icon representing a subsequent key pose is moved in conjunction with the movement.

4. 4. The motion creation device according to claim 1, wherein at least one of media data of audio, video and image can be arranged in time series in the key pose editing area using the input device.

5. 5. The motion creating device according to claim 4, wherein the location of the media data in the key pose editing area can be moved using the input device so that the playback time of the media data can be adjusted.

6. 6. The motion creating device according to claim 4, wherein the playback section of the media data can be adjusted using the input device.

7. 7. The motion creation device according to claim 1, wherein the key pose editing unit creates motion data that describes time-series movements of a multi-joint structure by interpolating between key poses.

8. 8. The motion creating device according to claim 7, wherein the key pose editing unit reproduces motion in CG (Computer Graphics) of a multi-joint structure based on the motion data.

9. The motion creation device according to any one of claims 1 to 8, characterized in that it comprises a key pose setting unit that displays CG (Computer Graphics) of a multi-joint structure and / or joint angles of the multi-joint structure and presents the key pose setting area for setting a key pose of the multi-joint structure.

10. A motion creation method for an articulated structure, comprising: a key pose setting step of presenting a key pose setting area for setting a key pose of the articulated structure; a key pose registration step of registering a plurality of key poses of the articulated structure set using an input device and the key pose setting area, and presenting a key pose registration area for displaying icons representing the registered plurality of key poses; a key pose editing step of selecting icons representing key poses in the key pose registration area using the input device and arranging them in time series to present a key pose editing area for editing key poses, In the key pose registration area, a plurality of icons representing a plurality of pre-registered key poses are displayed, The motion creation method includes dragging and dropping icons representing key poses in the key pose registration area using the input device, thereby arranging icons representing key poses in the key pose registration area in the key pose editing area.

11. A motion creation program for an articulated structure, On the computer, a key pose setting function that presents a key pose setting area for setting a key pose of a multi-joint structure; a key pose registration function for registering a plurality of key poses of the articulated structure set using an input device and the key pose setting area, and presenting a key pose registration area for displaying icons representing the registered plurality of key poses; a key pose editing function for selecting icons representing key poses in the key pose registration area using the input device and arranging them in time series, and presenting a key pose editing area for editing key poses; In the key pose registration area, a plurality of icons representing a plurality of pre-registered key poses are displayed, A motion creation program for arranging icons representing key poses in the key pose registration area in the key pose editing area by dragging and dropping the icons representing key poses in the key pose registration area using the input device.

Images