Auto-resolution of Collisions for Interactive Posture Edit of a Humanoid Robot () ()
نویسنده
چکیده
1. はじめに 人型ロボットの動作設計は,ロボットが環境や自己と干渉しな い等の幾何学的条件や,転倒しない等の力学的条件を満たす数十 個の関節軌道を求める大規模境界値問題である.人型ロボット普 及には,この困難さを感じさせず,専門知識がなくとも動作設計 可能な手段が必要となる.これまでに,与えられた動作軌道を, 幾何学的・力学的拘束条件を満たすように修正する方法が提案さ れてきた [1] [2] [3].修正前に与える動作概略は,モーションキャ プチャ [4] や人形型デバイス [5]を用いて作成する方法があるが, 大掛かりな装置が要求される問題がある.これに対し,CGアニ メーションの分野で利用されている,幾つかの特徴的な姿勢の補 間 [6][7] によって動作を作成する方法 [8] は,コンピュータがあ れば手軽に行える.特徴的な姿勢は,3DCG 表示されたロボッ トモデルの任意の身体部位をマウスでドラッグして作成する方法 [9]がある.しかし,実体が存在しない計算機上の世界では,身体 の一部が他の部位または環境と干渉する可能性がある.特徴的な 姿勢が幾何学的に矛盾していれば,それらの補間によって作成し た動作も幾何学的に矛盾することは避けられない. 本稿では,姿勢編集において干渉が発生したとき,それを解消 するような拘束条件を付加し,幾何学的条件を満たす方法を提案 する.拘束条件およびそれを与える身体部位は,干渉発生直前の 姿勢から自動的に求め,再度逆運動学を解き直すことでそれを反 映する.これにより,干渉の問題を設計者に意識させることなく 解決できる.
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