Robot apparatus and method of controlling the motion thereof

A method of controlling the motion of a robot apparatus capable of moving autonomously, the method comprising:

• receiving an image of an external moving body;
• generating a waveform corresponding to the image of the moving body;
• generating, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body;
• detecting a body part in the image;
• generating, based on a position of the detected body part, a body position signal indicative of a position of the moving body;
• modulating the rhythmic motion signal and the body position signal;
• and
• controlling an actuator for a joint of the robot apparatus based on the modulated rhythmic motion signal and the modulated body position signal.

A robot apparatus capable of moving autonomously, the robot apparatus comprising:

• a joint having a degree of freedom;
• an actuator that actuates the joint;
• an input section that inputs an image of an external moving body;
• a motion controller, comprising:
• a waveform generator that generates a waveform corresponding to the image of the moving body;
• a rhythmic motion module that generates, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body;
• a detector that detects a body part in the image of the moving body;
• a body position module that generates, based on the detected body part, a body position signal indicative of a position of the moving body;
• and
• a modulator that modulates the rhythmic motion signal and the body position signal;
• and
• a body controller that controls the actuator based on the modulated rhythmic motion signal and the modulated body position signal.