Motion editing apparatus and method for robot device, and computer program
First Claim
1. A motion editing system for a robot device including an upper body, a lower body formed from a plurality of legs which enable walking of the robot and a plurality of articulations, the system comprising:
- a motion editor for editing motions of the upper body and entire robot; and
a foot trajectory editor for creating a gait pattern and a motion of the upper body and combining the created upper-body motion and motion of the upper body or entire robot, edited by the motion editor to stabilize of the entire robot.
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Abstract
To implement a dynamic, elegant motion performance of an actual robot, a motion editing system is provided which includes a motion editor to edit motions of an upper body and whole body of the robot and a foot trajectory editor to create a gait pattern and lower-body motion to stabilize the entire robot. The foot trajectory editor includes the same gait pattern generator and motion stabilized as those installed in the actual robot. Before performing the edited motions on the actual robot, the motions are created, corrected and stabilized on a 3D viewer.
93 Citations
25 Claims
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1. A motion editing system for a robot device including an upper body, a lower body formed from a plurality of legs which enable walking of the robot and a plurality of articulations, the system comprising:
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a motion editor for editing motions of the upper body and entire robot; and
a foot trajectory editor for creating a gait pattern and a motion of the upper body and combining the created upper-body motion and motion of the upper body or entire robot, edited by the motion editor to stabilize of the entire robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A motion editing method for a robot device including an upper body, a lower body formed from a plurality of legs which enable walking of the robot and a plurality of articulations, the method comprising the steps of:
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editing motions of the upper body and entire robot; and
creating a gait pattern and a motion of the upper body and combining the created upper-body motion and motion of the upper body or entire robot, edited by the motion editing module to stabilize of the entire robot.
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25. A computer program described in a computer-readable format to execute, in a computer system, a motion edition for a robot device including an upper body, a lower body formed from a plurality of legs which enable walking of the robot and a plurality of articulations, the computer program comprising:
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a motion editing module for editing motions of the upper body and entire robot; and
a foot trajectory editing module for creating a gait pattern and a motion of the upper body and combining the created upper-body motion and motion of the upper body or entire robot, edited by the motion editing module to stabilize of the entire robot.
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Specification