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BODY IMITATION ROBOT SYSTEM AND BODY IMITATION MOTION CONTROL METHOD
BODY IMITATION ROBOT SYSTEM AND BODY IMITATION MOTION CONTROL METHOD
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机译：仿人体机器人系统及仿人体运动控制方法
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摘要
PROBLEM TO BE SOLVED: To provide a body imitation robot system and a body imitation motion control method which imitate both human motion information and sensory information, frequently reproduce the motion corresponding to the changing physical object (human or object) and allow the robot to do the work so as to contact the changing physical object thereby.;SOLUTION: The motion control method is composed of a teaching step, wherein the human 2 operates the robot 10 in a state being absorbed in the robot to perform a desired operation corresponding to the physical object and obtains the motion information and the sensory information during operation, and a body imitation step, which allows the robot 10 to imitate the desired motion based on the motion information and the sensory information obtained by the teaching step. In the body imitation step, the motion trajectory obtained by the teaching step is spatially changed and temporally expanded and contracted by using the sensory information during body imitation corresponding to the change of the physical object 1.;COPYRIGHT: (C)2006,JPO&NCIPI
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