JP5699648B2 - Operation control method, robot and program - Google Patents

Description

  The present invention relates to a motion control method, a robot, and a program for controlling a motion of a drive unit such as a motor provided in an interactive device such as a robot, or a computer graphic (CG) computer character.

  Communication robots including care robots, educational robots, and the like have a function of interacting with humans. Such a communication robot can make the interaction smoother by performing a natural operation that seems to be a living thing from the viewpoint of a human, that is, a non-mechanical operation.

  When a joint of a specific part of a human or animal body moves greatly, other joints that are not directly connected to this joint move minutely in conjunction with the greatly moved joint. This is because the direction of force received by the joint changes when the joint is pulled by muscles or skin, or when the center of gravity and posture of the body change. In addition, it is considered that the influence of the movement linked with other joints propagates to other joints in a chained manner. The minute movement of the joint that occurs due to the influence of movement that is linked to other joints is unnecessary for industrial robots that aim to move the tip of the arm to the target position accurately. In a communication robot that emphasizes sex, this movement is necessary to produce natural movements that seem to be creatures.

  Usually, a communication robot creates motions (or motion patterns) that define the movement of each joint in advance, and while the communication robot is operating, it moves according to these motions at any time, so that “sneeze” and “ Various actions or expressions such as “joy” are performed. However, in conventional communication robots, the movements of certain joints in these motions are not transmitted to other joints, so joints for which no motion is defined are completely stopped (or stopped) while the motion is being executed. is there. In this way, since only the joint in which the motion is defined moves, the movement of the communication robot becomes mechanical. For example, even if a communication robot opens a mouth and swings its head up and down to “sneeze” in advance, if it does not move the arms and legs at the same time when “sneezing” It becomes an unnatural movement with a sense of incongruity as a creature.

  In order to deal with unnatural movements of communication robots, designers currently create motions while estimating minute movements of each joint due to the influence between joints. For example, when creating a “sneeze” motion, the movement of each joint is created such that the arm moves according to the movement of the neck, and when the arm moves, the leg also moves slightly. However, creating such a motion requires a great deal of labor and time. Also, even if one motion that creates natural motion is created, if the same motion is executed continuously, the same motion is repeated until the created subtle joint motion. I get an impression.

  As a technique for complementing the operation of the robot, for example, various methods have been proposed that hold the skeleton link data of the robot and kinematically derive the movement of another part from the movement of a certain part. In addition, a technique (for example, Patent Document 1) or the like that freely swings the lower limb portion by calculating a force such as gravity that the robot receives during walking has been proposed. However, these proposed methods do not take into account such delicate movements due to muscle or skin tension, changes in the center of gravity or posture, or many other factors.

  If a precise body model that takes into account muscle and skin tension is created and a physical simulation is performed, the above-described subtle movements may be reproduced to some extent. However, it is very difficult to create and simulate such a model, and even if such a model can be created, there is a high possibility that this model cannot be applied to other robots having different body structures.

  On the other hand, when creating a CG animation character using the animation creation tool, the animation character can perform various operations on the screen by moving the joint of the animation character as in the case of the robot. However, if you move only the joint you want to move with the animation creation tool, movements of other joints that perform minute movements are not generated due to the moving joint. If you look at it, it will be unnatural and unnatural.

Special table 2004-531400 gazette JP 2007-125629 A

  In the conventional motion control method, when moving the joint of the robot or animation character, only the joint defined by the motion (or motion pattern) moves and the other joints are in a stationary state. There has been a problem that it is difficult to perform an operation, for example, a natural operation that does not seem strange to humans.

  Therefore, the present invention provides a motion control method, a robot, and a program capable of causing a robot or an animation character to perform a smooth motion, for example, a natural motion without a sense of incongruity from a human viewpoint, with relatively simple control. Objective.

According to one aspect of the present invention, a motion pattern defined in time series by a motion movable unit that moves a motion of a robot or animation character having a plurality of movable units is stored in a storage unit, and movement between the movable units An update procedure for updating based on a graph in which the movable parts are linked with each other according to the influence of the control, a control procedure for controlling the plurality of movable parts based on the operation pattern updated by the update procedure, and between the movable parts The calculation procedure for obtaining the degree of the influence of the graph by the thermal diffusion calculation on the structure of the graph is executed by a computer, and the update procedure is performed by being influenced by the motion movable portion in addition to the motion movable portion based on the graph. operation control method that generates an operation of the slave movable unit that is provided.

According to one aspect of the present invention, a robot having a plurality of movable parts, a storage unit that stores a graph in which the movable parts are linked by a link according to the influence of movement between the movable parts, and an operation movable part that moves A calculation unit for updating the operation pattern defined in time series based on the graph stored in the storage unit, and a command for controlling the plurality of movable units based on the operation pattern updated by the calculation unit The calculation unit calculates the degree of influence between the movable parts by thermal diffusion calculation on the structure of the graph, and adds to the operation movable part based on the graph and is affected by the operation movable part. robot that generates an operation of the slave movable unit that is provided.

According to one aspect of the present invention, there is provided a program for causing a computer to control the movement of a robot or animation character having a plurality of movable parts, wherein the movement of the robot or animation character is defined in time series by the moving action movable part. An updated procedure for updating the motion pattern stored in the storage unit based on a graph in which the movable parts are linked by a link according to the influence of the motion between the movable parts, and the motion pattern updated by the update procedure The computer executes a control procedure for controlling the plurality of movable parts based on the above and a calculation procedure for determining the degree of influence between the movable parts by thermal diffusion calculation on the structure of the graph, and the update procedure is performed on the graph. based addition to the operation moving part, a program that generates an operation of the slave moving part that operates under the influence on the operation movable portion It is subjected.

  According to the disclosed motion control method, robot, and program, it is possible to cause a robot or an animation character to perform a smooth motion, for example, a natural motion without a sense of incongruity from a human viewpoint, with relatively simple control.

It is a block diagram which shows an example of the interactive device in 1st Example of this invention. It is a figure explaining an example of a motor command table. It is a figure explaining an example of a joint graph and a weight. It is a figure which shows an example of an nxn matrix. It is a figure which shows an example of the matrix calculated | required from the nxn matrix. It is a figure explaining the amount of influence which a subordinate joint receives from an operation joint. It is a flowchart explaining the process which determines the operation amount of a dependent joint. It is a figure explaining an example of the updated command table. It is a flowchart explaining the process per cycle. It is a figure explaining an example of the updated command table after one cycle progress. It is a figure explaining the amount of influence which a subordinate joint receives from an operation joint. It is a figure explaining an example of the updated command table. It is a figure explaining how the matrix produced | generated considering the weight of the nxn matrix shown in FIG. 4 changes with the difference in a parameter. It is a figure explaining the difference in the amount of diffusion heat to a subordinate joint by time. It is a flowchart explaining the process of the whole process part. It is a figure which shows an example of the screen of an editing tool. It is a flowchart explaining an example of a process of an editing tool. It is a figure which shows an example of a CG animation character.

  In the motion control method, the robot, and the program of the disclosure, in addition to the motion joint defined by the motion (or motion pattern) of the robot or the animation character, the motion of other subordinate joints that are affected by the motion joint and perform a minute motion By generating automatically, a robot or an animation character can perform a smooth operation, for example, a natural operation that does not feel uncomfortable from a human viewpoint, with relatively simple control.

  For example, instead of creating a precise body model and performing a physical simulation by subordinately moving a dependent joint that is not directly moved according to the movement of a moving joint that is directly moved, for example, By using the joint graph structure defined by the designer based on his own intuition and experience, the robot or animation character is caused to perform a smooth operation. As a result, as long as it is a robot or animation character having a plurality of joints, basically any structure robot or animation character can be controlled relatively easily and in a relatively short time. Yes.

  Further, by obtaining the degree of influence between joints by heat diffusion calculation on the joint graph structure, it is possible to perform motion control in consideration of the linkage and mutual influence between joints. As a result, it is possible to generate the movement of the robot or animation character that naturally reflects the intuition when the designer creates the joint graph structure. By realizing the smooth movement of the robot or animation character, for example, it is possible to improve the affinity with a human and produce a natural movement that seems to be a creature.

  Hereinafter, embodiments of the disclosed operation control method, robot, and program will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram showing an example of an interactive device according to the first embodiment of the present invention. In this example, the interactive device is formed by a communication robot.

  A communication robot (hereinafter simply referred to as a robot) 1 illustrated in FIG. 1 includes a processing unit 11, a storage unit 12, and a movable unit group 13. The processing unit 11 is formed by a processor such as a CPU (Central Processing Unit). The storage unit 12 is formed of a semiconductor storage device, an optical storage device, a magneto-optical storage device, a magnetic storage device, or the like, and may be formed of a plurality of storage devices or a plurality of types of storage devices. The semiconductor storage device includes a RAM (Random Access Memory), a ROM (Read Only Memory), a memory card, and the like. Optical, magneto-optical, and magnetic storage devices include disk devices and the like. The storage unit 12 may include a portable storage device. The movable part group 13 has a plurality of movable parts corresponding to a plurality of joints (not shown) provided in the robot 1. Each movable part has a joint and a drive part such as a motor for driving the joint. The “joint” in the following description is not limited to a portion corresponding to, for example, a joint of a human body in the robot 1 and generically refers to a movable portion.

  The processing unit 11 includes a motion reading unit 111, a heat distribution calculation unit 112, a motion calculation unit 113, and a motor command unit 114. The storage unit 12 stores a motion database (DB: Data-Base) 121, a joint graph 122, a motor command table 123, a heat distribution 124, and a program (not shown) that causes the processing unit 11 to execute an operation control process. Yes. The processing unit 11 executes the program stored in the storage unit 12, thereby enabling the robot 1 including the functions of the motion reading unit 111, the heat distribution calculation unit 112, the motion calculation unit 113, and the motor command unit 114. Implement various functions. That is, the program stored in the storage unit 12 includes each procedure for causing the processing unit 11 to execute the process of the robot 1 including the operation control process. The computer-readable storage medium storing the program can be formed by at least one storage device forming the storage unit 12 in this example.

(Motor command table)
In this example, the robot 1 operates on the time axis based on motion data (or operation pattern data) that specifies the rotation angle of each motor that drives the joint in the movable unit group 13 in time series. Perform various actions or expressions. The motion data is sequentially converted into specific instructions for each motor by the motion reading unit 111 when the operation of the robot 1 is executed, and is held and managed, for example, in a motor command table 123 as shown in FIG. FIG. 2 is a diagram for explaining an example of the motor command table 123. In the example shown in FIG. 2, command values for the rotation amount of the motor are stored for “mouth”, “tilt”, and “roll”. Neck (pan), neck (tilt), and neck (roll) indicate rotation angles (pan, tilt, roll) of the neck of the robot 1 around three axes orthogonal to each other. The joints shown in FIG. 2 are the right ear, left ear, right eyelid, left eyelid, mouth, neck (pan), neck (tilt), neck (roll), right shoulder, left shoulder, right arm, left arm, right crotch, Needless to say, the present invention is not limited to the left crotch, right knee, and left knee.

  In FIG. 2, the unit of time shown on the horizontal axis is the operation cycle of the robot 1 (for example, a value of 1000 milliseconds or less not including 0), and the signed numerical value in each field indicated by a quadrilateral is Represents the command value (°) of the rotation amount of the corresponding motor. While the robot 1 is operating, the motion reading unit 111 sequentially reads motion data from the motion DB 121 and assigns commands to the motor command table 123 in the storage unit 12. For example, a plurality of motion data is assigned to the motor command table 123 in parallel. The contents of the motor command table 123 are shifted to the left as indicated by the arrows in FIG. 2 (ie, slid) with the passage of time, and the motor designation unit 114 corresponds to the motor corresponding to the command slid at time T0 to T1. Sent through. At this time, the joint whose numerical value is set in the field of time T0 to T1 is the motion joint whose motion is specified by the motion data. On the other hand, a joint whose field is blank is a joint whose operation is not specified by the motion data, and is stopped in the prior art. In this example, these joints that have been stopped in the past are defined as dependent joints, and minute movements subordinate to the moving joints are generated. For a joint defined as a dependent joint, for example, a new command is assigned to the field of times T0 to T1 in the motor command table 123.

(Joint graph)
First, among the plurality of joints of the robot 1, a joint graph 122 in which joints determined to be “related” by the designer are connected by a link is held in the storage unit 12. Here, “relevant” means that the movement of a certain joint is transmitted to another joint for the following reasons R1 and R2.
R1: Other joints are pulled by the movement of muscles and skin.
R2: When the center of gravity and posture of the body change, the direction of the force received by each joint changes.

  Therefore, the joint graph 122 does not define the skeletal link structure of the robot 1, but is created by the designer who freely imagines and considers the influence of the movement between the joints as described above. In other words, the joint graph 122 is created based on a condition determined arbitrarily by the designer in consideration of the influence of movement between joints such as the reasons R1 and R2, and the joints are displayed according to the influence of movement between the joints. It is connected with a link.

(Weight on link of joint graph)
The degree of influence between the joints is added (or set) as a weight between the joints in the joint graph 122. For example, when the robot 1 opens its mouth wide, if the robot 1 is dog-shaped, it can be predicted that the ears will move in conjunction with the movement of the mouth, but the amount of movement is assumed to be small and the mouth and ears Set a smaller weight on the link. On the other hand, when the shoulder joint moves greatly, it is assumed that the arm joint also moves greatly, and the weight of the link connecting the shoulder and the arm is set relatively large. Note that this weighting method can also be freely set by the designer as the individuality of the movement of the robot 1.

  FIG. 3 is a diagram for explaining an example of the weight added to the joint graph 122 and the link. The weight added to the joint graph 122 and its link can be arbitrarily defined by the designer. In FIG. 3, ◯ indicates a joint, and the name (or part) of the joint such as “right ear”, “mouth”, and the like is indicated in the ◯ mark. The link is represented by a straight line connecting the ○ mark and the ○ mark, and the numerical value shown in the vicinity of the straight line represents the weight added to the link.

  In the joint graph 122 shown in FIG. 6, for example, the right shoulder is directly connected to the neck (tilt), but is connected to the neck (tilt) via the neck (pan) and the neck (roll). In addition, the neck (pan) and the neck (roll) are connected directly to the neck (tilt), but they are connected to the neck (tilt) via links with different weights via the left shoulder. In considering the influence of a joint from other joints, the influence of such joint interconnection may also be considered. Naturally, it is natural to think that the joints of the actual creature also affect each other in a chain, but the influence amount of the joint graph 122 shown in FIG. , And different weights (ie, the weights shown in FIG. 2) added to each path (ie, link). Therefore, the influence amount of the joint graph 122 is not a value determined only by the weight between the directly connected joints.

  In FIG. 6, among the straight lines connecting the joints indicated by ◯, the thick line indicates the link having the maximum product of the influence amount and the weight on the link among a plurality of links extending from the same joint. The rotation direction of each dependent joint is determined from the previous joint connected by the link indicated by the bold line and the motion pattern set for the link.

  In practice, the processing is performed as shown in FIG. 7, that is, after the motion amount calculation using the equation (2) is performed for the number of motion joints, it is added. In the above example, only the neck is the motion joint.

  The command from the motor command unit 114 to the motor is transmitted for fields at times T0 to T1 in the updated command table 123 shown in FIG. In this way, processing per cycle of the operation of the robot 1 is performed.

  After one cycle, the contents of the command table 123 slides one place to the left and the same processing is repeated. The command table 123 shown in FIG. 8 is updated after one cycle as shown in FIG. FIG. 10 is a diagram illustrating an example of the updated command table 123 after one cycle has elapsed. 10, parts that are the same as the parts shown in FIG. 8 are given the same reference numerals, and explanation thereof is omitted.

  As a result, when the motion amount of each dependent joint is determined by adding the influence amounts from the respective motion joints according to the flowchart of FIG. 9, the command table 123 shown in FIG. 10 is updated as shown in FIG. FIG. 12 is a diagram for explaining an example of the updated command table 123. In FIG. 12, the same parts as those in FIG.

  FIG. 15 is a flowchart for explaining processing of the entire processing unit 11. In FIG. 15, in step S <b> 21, the motion reading unit 111 reads a motion from the motion DB 121 in the storage unit 12. In step S <b> 22, the motion read by the motion reading unit 111 is sequentially converted into specific instructions for each motor, assigned to the motor command table 123 in the storage unit 12 and held. In step S23, the motion calculation unit 113 calculates the motion of the subordinate joint based on the heat distribution 124 already stored in the storage unit 12, and the motor command table 123 is calculated based on the calculation result as shown in FIG. Update. In step S24, the motor command unit 114 controls, that is, operates the corresponding motor in the movable unit group 13 based on the updated motor command table 123.

  As described above, the joint graph structure defined in this example (i.e., how to link between joints, how to assign weights, how to determine the rotation pattern), as the individuality of the movement of the robot 1, each robot 1 has a unique object. The structure can be arbitrarily changed according to the operation mode. For this reason, an editing tool that allows a designer to create and edit a joint graph structure intuitively and easily may be used. FIG. 16 is a diagram illustrating an example of the editing tool screen, and FIG. 17 is a flowchart illustrating an example of processing of the editing tool. The editing tool is mounted on a general-purpose computer system (not shown) including a processor, a storage unit, an input unit such as a keyboard, and a display unit.

  The editing tool screen 30 shown in FIG. 16 is displayed on the display unit of the computer system, and the designer (or operator) creates and edits the joint graph structure by inputting information and instructions from the input unit of the computer system. A GUI (Graphical User Interface) is provided. In the example shown in FIG. 16, a simulation button 31 for instructing the start of simulation within the screen 30, a pen tool 32 for writing a link between joints, and a rotation pattern between joints (that is, rotation) that can be operated from the input unit. An editing tool screen 30 includes a determination unit 33 that determines the definition of the amount and the rotation direction. The editing tool screen 30 also includes a joint graph display unit 34 for displaying a joint graph being created or edited.

  The processing shown in FIG. 17 is realized by the execution of an editing tool program stored in the storage unit by the processor of the computer system. In FIG. 17, when the simulation button 31 is operated, a joint graph structure creation procedure is executed in step S31, and a simulation procedure on the joint graph being created is executed in step S32. In step S33, the joint graph structure creation end determination procedure is executed. If the determination result in step S33 is NO, the process returns to step S31, and if the determination result is YES, the process proceeds to step S34. In step S34, the joint graph structure setting writing procedure is executed, and the created joint graph is displayed on the joint graph display unit 34 in the screen 30 of the display unit, and is set and stored in the storage unit.

  The procedure for creating the joint graph structure in step S31 includes a definition procedure 311 for defining a link between joints of the robot 1 by operating the pen tool 32 with the input unit, and a link on the link by operating the determination unit 33 with the input unit. A rotation pattern setting procedure 312 for determining the definition of the rotation pattern and setting it in the storage unit, and a weight setting procedure 313 for inputting the weight on the link by operating the numeric keypad of the input unit and setting it in the storage unit are included.

  The simulation procedure of step S32 calculates in real time the selection procedure 321 for selecting a node to be a moving joint by an operation from the input unit from the joint graph displayed on the joint graph display unit 34, and the influence of the dependent joint from the moving joint. Then, a display procedure 322 for displaying on the joint graph displayed on the joint graph display unit 34 is included.

  According to the present embodiment, it is possible to cause the robot to perform a smooth operation, for example, a natural operation that does not give a sense of incongruity to humans, with relatively simple control. Further, by using the editing tool, the designer can create and edit the joint graph relatively easily and easily.

(Second embodiment)
The disclosed motion control method, robot, and program are not limited to an interactive device including a robot composed of multiple joints, but can be applied to motion control of a CG animation character composed of multiple joints.

  When creating a CG animation character using the animation creation tool, the animation character can perform various operations on the screen by moving the joint of the animation character as in the case of the robot. However, if only the motion joint to be moved is moved by the animation creation tool, the motion of other subordinate joints that are affected by the motion joint and perform minute motions are not generated. Therefore, in the second embodiment of the present invention, as in the case of the robot in the first embodiment, in addition to the motion joint defined by the motion (or motion pattern) of the animation character, Automatically generate movements of other subordinate joints that perform various actions. As a result, it is possible to cause the animation character to perform a smooth operation, for example, a natural operation that does not give a sense of incongruity to humans, with relatively simple control.

  FIG. 18 is a diagram illustrating an example of a CG animation character. In FIG. 18, 300 indicates a human-type CG animation character having a multi-joint, and 400 indicates a dog-type CG animation character having a multi-joint. By applying the disclosed motion control method to the motion control of the CG animation character 300 or 400, the CG animation character 300 or 400 having a smooth motion can be automatically generated.

（付記７）
複数の可動部を有するロボットであって、
可動部間の動きの影響に応じて可動部同士をリンクで結んだグラフを格納する記憶部と、
動かす動作可動部で時系列に定義された動作パターンを、前記記憶部に格納された前記グラフに基づいて更新する計算部と、
前記計算部により更新された動作パターンに基づいて前記複数の可動部を制御する指令部を備え、
前記計算部は、前記グラフに基づいて前記動作可動部に加え、前記動作可動部に影響されて動作する従属可動部の動作を自動的に生成することを特徴とする、ロボット。
（付記８）
前記グラフの各リンクには、可動部間の影響の度合いが重みとして付加されていることを特徴とする、付記７記載のロボット。
（付記９）
前記動作パターンは、各動作可動部の回転量及び回転方向を指定することを特徴とする、付記７又は８記載のロボット。
（付記１０）
前記計算部は、可動部間の影響の度合いを前記グラフ構造上の熱拡散計算により求めることを特徴とする、付記７乃至９のいずれか１項記載のロボット。

（付記１３）
コンピュータに、複数の可動部を有するロボット又はアニメーションキャラクタの動作を制御させるプログラムであって、
前記ロボット又はアニメーションキャラクタの動作が、動かす動作可動部で時系列に定義された動作パターンを、記憶部に格納されており可動部間の動きの影響に応じて可動部同士をリンクで結んだグラフに基づいて更新する更新手順と、
前記更新手順により更新された動作パターンに基づいて前記複数の可動部を制御する制御手順
をコンピュータに実行させ、
前記更新手順は、前記グラフに基づいて前記動作可動部に加え、前記動作可動部に影響されて動作する従属可動部の動作を自動的に生成することを特徴とする、プログラム。
（付記１４）
前記グラフの各リンクには、可動部間の影響の度合いが重みとして付加されていることを特徴とする、付記１３記載のプログラム。
（付記１５）
前記動作パターンは、各動作可動部の回転量及び回転方向を指定することを特徴とする、付記１３又は１４記載のプログラム。
（付記１６）
可動部間の影響の度合いを前記グラフ構造上の熱拡散計算により求める計算手順を更に前記コンピュータに実行させることを特徴とする、付記１３乃至１５のいずれか１項記載のプログラム。

The following additional notes are further disclosed with respect to the embodiment including the above examples.
(Appendix 1)
The movement pattern of the robot or animation character having a plurality of movable parts is stored in the storage unit, and the movable parts are moved according to the influence of the movement between the movable parts. An update procedure that updates based on the linked graph,
A computer executes a control procedure for controlling the plurality of movable parts based on the operation pattern updated by the update procedure,
The update procedure automatically generates an operation of a subordinate movable part that operates under the influence of the operation movable part in addition to the operation movable part based on the graph.
(Appendix 2)
The operation control method according to appendix 1, wherein a degree of influence between movable parts is added to each link of the graph as a weight.
(Appendix 3)
The motion control method according to appendix 1 or 2, wherein the motion pattern specifies a rotation amount and a rotation direction of each motion movable portion.
(Appendix 4)
The operation control method according to any one of appendices 1 to 3, wherein a calculation procedure for obtaining a degree of influence between the movable parts by heat diffusion calculation on the graph structure is further executed by the computer.

(Appendix 7)
A robot having a plurality of movable parts,
A storage unit for storing a graph in which the movable parts are linked with each other according to the influence of the movement between the movable parts;
A calculation unit that updates an operation pattern defined in time series by the moving operation unit to be moved based on the graph stored in the storage unit;
A command unit for controlling the plurality of movable units based on the operation pattern updated by the calculation unit;
The robot according to claim 1, wherein the calculation unit automatically generates an operation of a subordinate movable unit that operates under the influence of the operation movable unit in addition to the operation movable unit based on the graph.
(Appendix 8)
The robot according to appendix 7, wherein the degree of influence between the movable parts is added to each link of the graph as a weight.
(Appendix 9)
9. The robot according to appendix 7 or 8, wherein the motion pattern specifies a rotation amount and a rotation direction of each motion movable portion.
(Appendix 10)
The robot according to any one of appendices 7 to 9, wherein the calculation unit obtains the degree of influence between the movable units by thermal diffusion calculation on the graph structure.

(Appendix 13)
A program for causing a computer to control the operation of a robot or animation character having a plurality of movable parts,
A graph in which motion patterns defined in time series by the motion movable portion that moves the motion of the robot or animation character are stored in the storage portion and the movable portions are linked by a link according to the influence of the motion between the movable portions An update procedure to update based on
Causing the computer to execute a control procedure for controlling the plurality of movable parts based on the operation pattern updated by the update procedure,
The update procedure automatically generates an operation of a subordinate movable unit that operates under the influence of the operation movable unit in addition to the operation movable unit based on the graph.
(Appendix 14)
14. The program according to appendix 13, wherein the degree of influence between movable parts is added to each link of the graph as a weight.
(Appendix 15)
15. The program according to appendix 13 or 14, wherein the operation pattern specifies a rotation amount and a rotation direction of each operation movable part.
(Appendix 16)
The program according to any one of appendices 13 to 15, further causing the computer to execute a calculation procedure for obtaining a degree of influence between the movable parts by thermal diffusion calculation on the graph structure.

DESCRIPTION OF SYMBOLS 1 Robot 11 Processing part 12 Storage part 13 Movable part group 111 Motion reading part 112 Heat distribution calculation part 113 Motion calculation part 114 Motor command part 121 Motion DB
122 Joint graph 123 Motor command table 124 Heat distribution

Claims (6)

A program for causing a computer to control the operation of a robot or animation character having a plurality of movable parts,
A graph in which motion patterns defined in time series by the motion movable portion that moves the motion of the robot or animation character are stored in the storage portion and the movable portions are linked by a link according to the influence of the motion between the movable portions An update procedure to update based on
A control procedure for controlling the plurality of movable parts based on the operation pattern updated by the update procedure ;
Causing a computer to execute a calculation procedure for determining the degree of influence between moving parts by thermal diffusion calculation on the structure of the graph ;
The update procedure, the operation applied to the movable portion, and generating an operation dependent movable section operating been influenced by the operation movable portion on the basis of the graph program.   The program according to claim 1, wherein a degree of influence between movable parts is added to each link of the graph as a weight. The calculation procedure is as follows:
When the number of the plurality of movable parts is n, an n × n matrix P having weights of the movable part i and the movable part j as (i, j) components is defined using the weight added to the link of the graph. And
A matrix M is obtained by performing the following calculation using the matrix P, where I is an n × n unit matrix:

The element (i, j) of the matrix M is regarded as the amount of heat flowing from the heat source into the movable part i through the weighted graph within the time t from the heat source as the heat source. The program according to claim 1 or 2. The calculation procedure is the sum of rows

4. The program according to claim 3, wherein normalization is performed so that becomes 1. A robot having a plurality of movable parts,
A storage unit for storing a graph in which the movable parts are linked with each other according to the influence of the movement between the movable parts;
A calculation unit that updates an operation pattern defined in time series by the moving operation unit to be moved based on the graph stored in the storage unit;
A command unit for controlling the plurality of movable units based on the operation pattern updated by the calculation unit;
The calculation unit obtains the degree of influence between the movable units by thermal diffusion calculation on the structure of the graph, and in addition to the operation movable unit based on the graph, a dependent movable unit that operates by being influenced by the operation movable unit A robot characterized by generating a motion of . The movement pattern of the robot or animation character having a plurality of movable parts is stored in the storage unit, and the movable parts are moved according to the influence of the movement between the movable parts. An update procedure that updates based on the linked graph,
A control procedure for controlling the plurality of movable parts based on the operation pattern updated by the update procedure ;
The computer performs a calculation procedure for determining the degree of influence between moving parts by thermal diffusion calculation on the structure of the graph ,
The update procedure, in addition to the operation movable portion on the basis of the graph, and generating an operation dependent movable section operating been influenced by the operation movable part, operation control method.

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