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Generating natural motion of an articulated object with higher DOF (e.g., humanoid robot and robot hand) is a crucial issue in robotics and computer graphics fields. Use of the motion capture data is one of the solutions, but it requires expensive device and time-consuming measurement. In this paper, we propose a method for generating natural hand motion to play a piano from the inputted music score...
This paper presents a dynamics simulator that can handle complex robotic systems including position-controlled joints and closed kinematic chains. We first extend our prevous algorithm for linear-time forward dynamics algorithm to handle closed kinematic chains. The extended algorithm is formally presented for the first time. We then present another extension that allows position-controlled joints,...
This paper presents an online dynamical retouch method of referential motion patterns for humanoid robots. It converts transition sequences of desired posture and supporting state which are rough in terms of both time and space to a set of smooth piecewise functions applicable to actual robots with dynamical constraints taken into account. It is based on boundary condition relaxation method, and has...
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