Title:
METHOD FOR ANALYZING MOTION, MOTION ANALYZER, COMPUTER PROGRAM, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2007/094451
Kind Code:
A1
Abstract:
An information processor (100) implementing a method for analyzing motion, comprises
a CPU (101) for formulating the relation between an external force applied to
each point on the surface of an object and the acceleration by simultaneous linear
equations employing a coefficient matrix, extracting a nonspecific submatrix
from the coefficient matrix by utilizing matrix decomposition, and calculating
the solution of the simultaneous linear equations by utilizing the extracted
nonspecific submatrix. When the solution of the formulated simultaneous linear
equations is calculated, the solution is obtained as a linearly independent contact
problem by neglecting the restraint between some accelerations and the restraints
between all accelerations are checked after the solution is obtained.
Inventors:
HALE JOSHUA
Application Number:
PCT/JP2007/052845
Publication Date:
August 23, 2007
Filing Date:
February 16, 2007
Export Citation:
Assignee:
JAPAN SCIENCE & TECH AGENCY (JP)
HALE JOSHUA
HALE JOSHUA
International Classes:
B25J5/00; B25J19/00; G06F17/12; G06F19/00
Foreign References:
| JP2003296734A | 2003-10-17 |
Other References:
HALE J.G.: "Practical and theoretical research into humanoid motion and interaction", IEEE SYSTEMS, MAN AND CYBERNETICS SOCIETY ENEWSLETTER, December 2005 (2005-12-01), XP003016578
HALE J.G.: "Abstract of Sub-matrix analysis for contact force resolution in humanoid simulation", PROGRAM OF 8TH INTERNATIONAL IFAC SYMPOSIUM ON ROBOT CONTROL, XP003016579
HALE J.G.: "Abstract of Sub-matrix analysis for contact force resolution in humanoid simulation", PROGRAM OF 8TH INTERNATIONAL IFAC SYMPOSIUM ON ROBOT CONTROL, XP003016579
Attorney, Agent or Firm:
KOHNO, Takao (4-3 Tsuriganecho 2-chome, Chuo-k, Osaka-shi Osaka 35, JP)
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