主催: (社)計測自動制御学会システムインテグレーション部門
p. 147
This paper describes the process to generate robot motions from human dance motions acquired by motion caputuring systems. We extract symbolic information which represents primitive motions and use them to generate joint angle trajectories of a robot. Generation process statisfies mechanical constraints and dynamic balance consistency. Generated motions were successfully performed on OpenHRP robot platform.