Motion creating system for a small biped entertainment robot
Motion creating system for a small biped entertainment robot
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小型双足娱乐机器人的运动创建系统
DOI：
10.1109/iros.2003.1248839
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
J. Yamaguchi
中科院分区：
文献类型：
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作者：
Y. Kuroki;Bill Blank;T. Mikami;P. Mayeux;A. Miyamoto;R. Playter;K. Nagasaka;M. Raibert;M. Nagano;J. Yamaguchi
SDR-4X是一款小型双足娱乐机器人，具有扩展功能，可进行各种运动表演。我们开发了SDR运动生成系统和SDR的全身自适应运动控制。该软件系统可以轻松制作创造性的动作表演，包括稳定的快步走和与音乐同步的舞步。运动生成系统由两部分组成：用于编辑上半身运动和全身运动的运动编辑器和用于生成稳定的下半身运动的脚部轨迹编辑器。一旦创建了上半身和下半身运动，该系统允许运动设计师在将其应用于SDR-4X之前检查整个身体运动。创建一个快节奏的舞蹈表演的过程中介绍了作为一个有吸引力的应用程序，这个软件系统。
SDR-4X is a small biped entertainment robot with expanded capabilities for a variety of motion performances. We developed the SDR motion creating system and the whole body adaptive motion control for SDR. This software system makes it easy to produce creative motion performances that include stable biped walking and dance steps synchronized to music. The motion creating system is composed of two parts: the motion editor used to edit upper body motion and whole body motion, and the foot trajectory editor used to create stable lower body motion. Once the upper and lower body motions are created, the system allows the motion designer to inspection the whole body motion before applying it to SDR-4X. The process of creating a fast-paced dance performance is introduced as an attractive application of this software system.