1A2-O04 人型ロボットのインタラクティブ動作設計における運動拘束条件の自動整合(ヒューマノイド(2))

抄録

A motion design method for humanoid robots based on the interpolation of keyframes is proposed, in which the keyframes are defined as sets of kinematic constraints. Since the number of constraints is not necessarily persistent during a motion, the resultant trajectory often because discontinuous. An auto-binding technique of constraints with a variable weighting resolves this problem.