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US 12,569,996 B2Granted
Method and apparatus for automatically generating drum play motion of robot
AssigneeKorea Institute of Science and Technology
InventorsJungsoo Cho, Sehyuk Yim
Life of this patent
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Abstract
A method of generating a drum play motion of a robot includes generating a plurality of rhythms of a melody, assigning each of a plurality of notes forming a rhythm of each part to one of the right hand and the left hand of the robot, scheduling swing time of each of the right hand and the left hand to which each note is assigned, and generating a trajectory of each of a plurality of joints of the robot for playing the rhythm of each part based on the swing time of each of the right hand and the left hand, and by controlling a motion of each of the plurality of joints according to the trajectory of each of the plurality of joints generated in this way, creative drum play of a humanoid robot may be done when only a melody is input.
Claims9
A method of generating movement of a robot, the method comprising:
- identifying a plurality of parts of a melody formed by a plurality of notes, based on a change in a pattern of the plurality of notes as the melody is played;
- generating a rhythm for each of the identified parts of the melody;
- assigning each of the plurality of notes that form the generated rhythm to one of a right hand and a left hand of the robot;
- scheduling swing time of each of the right hand and the left hand;
- generating a trajectory for each of a plurality of joints of the robot that respectively controls movement of the right hand and the left hand of the robot for playing the rhythm of each of the parts based on the scheduled swing time of each of the right hand and the left hand;
- generating a play motion of the robot by controlling a motion of each of the plurality of joints according to the generated trajectory for each of the plurality of joints;
- and
- scheduling strike time of each of a plurality of drums according to an interval between notes of the generated rhythm of the each part for each of the right hand and the left hand to which the each note is assigned,
- wherein, in the scheduling of the swing time, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time of the each note,
- wherein, in the scheduling of the swing time, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time such that the right hand and the left hand do not collide with each other, and
- wherein the swing time for each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time according to a swing rule that defines time and a height of each swing of the right hand and the left hand according to the pattern of the plurality of notes such that the right hand and the left hand of the robot do not collide with each other.
8 more elements
An apparatus for generating movement of a robot, the apparatus comprising:
- a processor including a part identifier configured to identify a plurality of parts of a melody formed by a plurality of notes, based on a change in a pattern of the plurality of notes as the melody is played;
- a rhythm generator configured to generate a rhythm for each of the identified parts of the melody;
- a note assigner configured to assign each of the plurality of notes that form the generated rhythm to one of a right hand and a left hand of the robot;
- a time scheduler configured to:
- schedule swing time of each of the right hand and the left hand;
- and
- schedule strike time of each of a plurality of drums according to an interval between notes of the generated rhythm of the each part for each of the right hand and the left hand to which the each note is assigned;
- a joint trajectory generator configured to generate a trajectory for each of a plurality of joints of the robot that respectively controls movement of the right hand and the left hand of the robot for playing the rhythm of each of the part based on the scheduled swing time of each of the right hand and the left hand;
- and
- a play motion generator configured to generate a play motion of the robot by controlling a motion of each of the plurality of joints according to the generated trajectory for each of the plurality of joints,
- wherein, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time of the each note,
- wherein, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time such that the right hand and the left hand do not collide with each other, and
- wherein the swing time for each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time according to a swing rule that defines time and a height of each swing of the right hand and the left hand according to the pattern of the plurality of notes such that the right hand and the left hand of the robot do not collide with each other.
10 more elements
Dependencies are inferred from the claim text.