Abstract
We proposed a motion generation method with "Target Guide Tube". In this paper, we use the "Target Guide Tube" to modify the generated motions in real time. Because the position and rotation of the "Target Guide Tube" have a direct effect on what-like motion will be generated, we can modify the generated motions easily by changing them. By using the values of sensory devices for changing them, the generated motions will be modified to be adapted to the surrounding environment. We show the experimental results of applying this method to motion modificaton on the humanoid robot.
