| CPC B25J 9/1664 (2013.01) [B25J 5/00 (2013.01); G05B 19/4155 (2013.01); G05B 2219/40523 (2013.01)] | 5 Claims |
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1. A motion data generating system for a robot provided with at least a waist and a leg, the motion data generating system comprising:
a central processing unit that:
acquires captured leg motion data captured from a motion of the separating leg of a test subject and captured waist motion data captured from a motion of the waist;
smooths the captured leg motion data, performs peak detection, and extracts at least a separation starting point, a peak position, and a separation ending point as representative points;
converts the captured leg motion data and the captured waist motion data at the representative point to a scale of the robot;
sets up a target zero moment point (ZMP) of the robot at the representative point;
generates postures of the leg and the waist of the robot for every step in accordance with a control cycle of the robot between the representative points by interpolation;
generates motion data in which the postures of the leg and the waist of the robot for each step are modified so as to satisfy the target ZMP;
performs the peak detection individually with respect to a position of three-dimensional coordinates of a foot tip in a x-direction, in a y-direction, and in a z-direction, and also for an angle of a roll axis, an angle of a pitch axis, and an angle of a pitch axis; and
adds all detected representative points, and performs thinning on the representative points that have a plurality of time widths at intervals equal to or less than a predetermined time interval.
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