Being the mobile attitude generation method which generates the attitude

摘要

PROBLEM TO BE SOLVED: To solve the problem that, when a part of a moving body moves in accordance with a motion trajectory, a posture of the whole moving body has been conventionally generated by use of inverse kinematics, which is complicated in calculation and prevents the automatic choice of a solution when a number of solutions exist.;SOLUTION: In a workspace, a repulsive force vector field set up based on the obstacles in the space is defined. The whole moving body is put into a three-dimensional shape model, on the surface of which representative points are set up. The posture of the whole moving body is automatically generated by applying repulsive force vectors to the representative points.;COPYRIGHT: (C)2011,JPO&INPIT