非線形状態空間写像を用いた力学的整合を持つ運動変換

• 岡田 昌史

  東京工業大学大学院 理工学研究科 機械物理工学専攻

• 宮嵜 哲郎

  東京工業大学大学院 理工学研究科 機械物理工学専攻

書誌事項

タイトル別名

• Motion Transformation with Dynamic Consistency Using Nonlinear State-Space Mapping

抄録

This paper proposes a motion transformation method using nonlinear state-space mapping. A human motion is measured by a motion capture system and it is transformed to a “realizable” robot motion. “Realizable” requires existence of an input sequence that satisfies the dynamical consistency of the robot dynamics. The nonlinear state-space mapping is represented by a polynomial of power of state variable and its parameters are obtained so that the constrains of velocity and acceleration are satisfied, and the human motion is deformed simultaneously. Moreover, the transformed motion is decided by setting the reference kinetic energy. The proposed method is applied to a tap dancing robot and a robot motion is generated by an autonomous system based on orbit attractor.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 79 (802), 1913-1922, 2013

  一般社団法人 日本機械学会

キーワード

• Motion Transformation
• Attractor-Based Controller
• Human Motion
• Robot Motion Generation

詳細情報

• CRID: 1390282681362558848
• NII論文ID: 130003375073
• DOI: 10.1299/kikaic.79.1913
• ISSN: 18848354
• ISSN: 03875024
• Web Site: https://www.jstage.jst.go.jp/article/kikaic/79/802/79_1913/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可