Method and apparatus for representing motion of multiple-jointed object, computer graphic apparatus, and robot controller
AssigneeHitachi, Ltd.
InventorsMunetoshi Unuma, Ryozo Takeuchi
Life of this patent
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Abstract
A bending angle of each joint of a multiple-jointed object is represented with a function expressed independently of a length between joints of the object. Based on the function, contour data is produced for a motion of each joint, which is then displayed on a screen. With this provision, it is unnecessary to generate again functions each time the size of the object changes. Namely, the functions are independent of the size of the object. Since parameters of the functions can be altered to add characteristics to changes in the bending angles the respective joints, the object is actuated in an action having an emotional expression.
Claims35
A method of representing a motion of a multiple-jointed object, having multiple joints, in which an action of each articulation of said object is controlled to present said motion thereof on a screen, said method comprising the steps of:
- attaining a bending angle of each of said joints as a function of a phase difference, time and amplitude independent of a length between said joints of said object;
- obtaining, based on said bending angle functions, data of a contour of said object in motion in response to an instruction;
- and
- displaying the motion of said object as indicated by said contour data on the screen.
A method of representing a motion of a multiple-jointed object, having multiple joints, in which an action of each one of multiple articulations of said object is controlled so as to present the motion thereof on a screen, said method comprising the steps of:
- attaining a bending angle of each of said joints as the following function independent of a length between said joints of said object:
- ##EQU16## D.sub.m :
- Direct current component A.sub.mn :
- Amplitude of each frequency component
- .PSI..sub.mn :
- Phase
- m:
- Joint number
- n:
- Higher harmonics of order n
- .PHI..sub.m :
- Phase difference of 1st order higher harmonics between reference joint and m-th joint (.PHI..sub.m =0 for reference joint)
- changing a value of at least either one of the parameters D.sub.m, A.sub.mn, and .PSI..sub.mn of the function (1), thereby varying said motion of said multiple-articulated object acting based on the function (1);
- obtaining, from said function (1), data of a contour of said object in motion in response to an instruction;
- and
- displaying the motion of said object as indicated by said contour data on the screen.
A computer graphic apparatus for presenting a motion of a multiple-jointed object, having multiple joints, on a screen in which an action of each of said joints of said object is controlled so as to present said motion thereof on the screen, comprising:
- means for attaining a bending angle of each of said joints as a function of a phase difference, time and amplitude independent of a length between said joints of said object;
- means for obtaining, based on said bending angle functions, data of a contour of said object in motion in response to an instruction;
- and
- means for displaying the motion of said object as indicated by said contour data on the screen.
A computer graphic apparatus for presenting a motion of a multiple-jointed object, having multiple joints, on a screen in which an action of each of said joints of said object is controlled so as to present said motion thereof on the screen, comprising:
- store means for storing therein a bending angle of each of said joints as the following function independent of a length between said joints of said object:
- ##EQU17## D.sub.m :
- Direct current component A.sub.mn :
- Amplitude of each frequency component
- .PSI..sub.mn :
- Phase
- Joint number
- n:
- Higher harmonics of order n
- .PHI..sub.m :
- Phase difference of 1st order higher harmonics between reference joint and m-th joint (.PHI..sub.m =0 for reference joint)
- means for obtaining, based on said function (1), data of a contour of said object in motion in response to an instruction;
- and
- means for displaying the motion of said object as indicated by said contour data on the screen.
A computer graphic apparatus for presenting a motion of a multiple-jointed object, having multiple joints, on a screen in which an action of each of said joints of said object is controlled so as to present said motion thereof on the screen, comprising:
- store means for storing therein a bending angle of each of said joints as the following function independent of a length between said joints of said object:
- ##EQU18## D.sub.m :
- Direct current component A.sub.mn :
- Amplitude of each frequency component
- .PSI..sub.mn :
- Phase
- m:
- Joint number
- n:
- Higher harmonics of order n
- .phi..sub.m :
- Phase difference of 1st order higher harmonics between reference joint and m-th joint (.phi..sub.m =0 for reference joint)
- d.sub.m :
- Direct current component of qualification component
- Qualification component of each frequency component
- .psi..sub.mn :
- Phase component of qualification component means for setting and for changing values of d.sub.mn, a.sub.mn and .psi..sub.mn ;
- means for obtaining, based on said function (2), data of a contour of said object in motion in response to an instruction;
- and
- means for displaying the motion of said object as indicated by said contour data on the screen.
A computer graphic apparatus for presenting a motion of a multiple-jointed object, having multiple joints, on a screen in which an action of each of said joints of said object is controlled so as to present said motion thereof on the screen, comprising:
- store means for storing therein a bending angle of each of said joints as the following function independent of a length between said joints of said object:
- ##EQU19## D.sub.m :
- Direct current component A.sub.mn :
- Amplitude of each frequency component
- .PSI..sub.mn :
- Phase
- m:
- Joint number
- n:
- Higher harmonics of order n
- .phi..sub.m :
- Phase difference of 1st order higher harmonics between reference joint and m-th joint (.phi..sub.m =0 for reference joint)
- d.sub.m :
- Direct current component of qualification component
- a.sub.mn :
- Qualification component of each frequency component
- .psi..sub.mn :
- Phase component of qualification component .alpha..sub.m, .beta..sub.m :
- Magnitude
- means for setting and for changing values of said magnitudes .alpha..sub.m and .beta..sub.m ;
- means for attaining a value of said function (3) for each of said joints;
- means for obtaining, based on said function (3), data of a contour of said object in motion in response to an instruction;
- and
- means for displaying the motion of said object as indicated by said contour data on the screen.
A computer graphic apparatus for presenting a motion of a multiple-jointed object, having multiple joints, on a screen in which an action of each of said joints of said object is controlled so as to present said motion thereof on the screen, comprising:
- store means for storing therein a bending angle of each of said joints as the following function independent of a length between said joints of said object:
- ##EQU20## D.sub.m :
- Direct current component A.sub.mn :
- Amplitude of each frequency component
- .PSI..sub.mn :
- Phase
- m:
- Joint number
- n:
- Higher harmonics of order n
- .phi..sub.m :
- Phase difference of 1st order higher harmonics between reference joint and m-th joint (.phi..sub.m =0 for reference joint)
- d.sub.mi :
- Direct current components of respective kinds of qualification components
- a.sub.mi :
- Qualification components of different kinds for each frequency component
- .psi..sub.mi :
- Phase components of respective kinds of qualification components
- .alpha..sub.mi :
- Magnitude of each qualification component
- .beta..sub.m :
- Magnitude of amplitude
- means for setting and for changing values of said magnitudes .alpha..sub.mi and .beta..sub.m ;
- means for setting and for changing values of d.sub.mi, a.sub.mi, and .psi..sub.mn ;
- means for attaining a value of said function (4) for each of said joints;
- means for obtaining, based on said function (4), data of a contour of said object in motion in response to an instruction;
- and
- means for displaying the motion of said object as indicated by said contour data on the screen.
An apparatus for representing a motion of a multiple-jointed object, having multiple joints, in which an action of each of said joints of said object is controlled so as to present said motion thereof on a screen, comprising:
- store means for storing therein a plurality of primary functions of a phase difference, time and amplitude designating actions of respective ones of said joints of said object, each of said primary functions representing a single movement;
- select means for selecting, from said plurality of primary functions of time, at least one primary function of time;
- computation means for computing, based on said selected primary time functions, at least a secondary function of time, the secondary function of time representing plural movements;
- and
- output means for outputting, based on said secondary time function, a motion of said multiple-jointed object in accordance with said plural movements.
A motion representing apparatus for representing with functions of time an action of each joint of a multiple-jointed object comprising, output means for outputting the motion of the object which takes a specified posture at a specified point of time during the movement.
Dependencies are inferred from the claim text.