METHOD AND A DEVICE TO CONTROL HUMANOID ROBOT ARMS, CAPABLE OF EXPRESSING SHADING SUCH AS SHADOWS

摘要

PURPOSE: A method and a device to control humanoid robot arms are provided to draw images by extracting trajectory data corresponding to the robot arm, mapping according to the size of an actual target object with the robot, and expressing shading in real time.;CONSTITUTION: A device to control humanoid robot arms comprises an imaging unit (210), an allocation unit (230), an extracting unit (250), and a control unit (270). The allocation unit allocates a level value according to a shading level of each pixel based on the pixel information of the image. The extracting unit extracts trajectory data of the robot arm to draw a shading line in the corresponding pixel based on the level value. The control unit controls the robot arm to draw images according to the trajectory data.;COPYRIGHT KIPO 2013;[Reference numerals] (210) Imaging unit; (230) Allocation unit; (250) Extracting unit; (270) Control unit