ロボットモーションプランニングの自動化に向けてのロボットモーション実行基盤の開発

抄録

In this study, Robot Motion Performance Platform was developed. This system is the servo motor control platform based on the memory based technique. This system can execute motions on a robot having various legs and arms. The important feature of this system is the motion mixture function. The motion mixture function can synthesize new many motions from few basic motions. In this system, a sensor feedback processing can change the current executing motion. For example, a sensor feedback processing can exchange several current executing motions and can modify motion data at certain joints. Such sensor feedback processing can execute some subroutines which the user added. The motion that was generated by the synthesizing motion can be a motion to switch motions. Therefore, a sensor feedbacked motion corresponding to the environment can be synthesized from few basic motions by this system.