1A2-O04 Auto-binding of Constraint Conditions for Interactive Motion Design of Humanoid Robots(Humanoid(2))
Yasunori Matsumoto, Tomomichi Sugihara · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
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.