A robot having the motion style of a character defined by animation data obtained from an animation movie or computer animation data files. The robot is generated using a robot development method that obtains animation data for a character walking or performing other movements. The character may be humanoid, and the method includes developing a bipedal robot with a lower portion having a kinematic structure matching the kinematic structure of the lower portion of the animation character as defined in the animation data. A control program is generated for the robot such as by using trajectory optimization. The control program may include an open-loop walking trajectory that mimics the character's walking motion provided in the animation data. The open-loop walking trajectory may be generated by modifying the motion of the character from the animation data such that the Zero Moment Point (ZMP) stays in the contact convex hull.
METHOD FOR DEVELOPING AND CONTROLLING A ROBOT TO HAVE MOVEMENTS MATCHING AN ANIMATION CHARACTER
2016-08-25
Patent
Electronic Resource
English
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