Abstract
We aim to generate robot's motion intuitively without solving complex mathematical formulas. We recognize the motion of humanoid robots as sequence of transition from one state to another state. We built a system OSC:Observation based State Creator. When we input 2 robot's state to the OSC, the system generates one transitive motion.
Generating robot's motions is important toward a specific goal like RoboCup soccer. In this system, we can express state knowledge by multidimensional fuzzy subsets in configuration space, according to person's state knowledge called state label like "stand", "kick-state" and so on. By using these knowledge as system input, we get robot's motion intuitively.
