Link-sequence mapping device, link-sequence mapping method, and program

1. A link-sequence mapped robotic system, comprising:

a robot having a robot body comprising a robot link-sequence, the robot link-sequence including a plurality of robot links attached at a plurality of robot joints, each robot joint attaching two robot links to one another, each robot joint having a range of motion, each robot link having a length;

a mapping device configured with model link-sequence information regarding a model link-sequence of a model having a model body, the model link-sequence including a plurality of model links attached at a plurality of model joints, each model joint attaching two model links to one another, each model joint having a range of motion, each model link having a length, the model link-sequence information regarding a position of each model link;

the robot link-sequence differing from the model link-sequence in at least one of the following: a joint range of motion, a number of links, a number of joints, a ratio of lengths of links mapped to one another, a link-sequence role within a body;

a link-sequence mapping device comprising a hardware micro processing unit and software which upon execution with the hardware micro processing unit specifies coordinate values of a plurality of predetermined link-sequences using the model link-sequence information,

calculates robot link-sequence information regarding a position of each robot link for an objective function to become smaller corresponding to each distance between a plurality of model link-sequence places and a plurality of robot link-sequence places, and positions the robot links and robot joints based on the calculated robot link-sequence information.

2. The link-sequence mapped robotic system of claim 1 , wherein a number of said plurality of specified places is larger than a number of connection points at a link-sequence of said robot.

3. The link-sequence mapped robotic system of claim 1 , further comprising:

a storage unit configured by storing joint movable range information of a joint at a link-sequence of said robot; and

wherein said mapped robotic system is configured to make said objective function small in a movable region defined by said joint movable range.

4. The mapped robotic system of claim 1 , further configured to

normalize a link-sequence length of said model, said distance being a distance after normalization.

5. The mapped robotic system of claim 1 , wherein said distance corresponds to a coordinate value in a coordinate system making a base end of a link-sequence of said model and a base end of a link-sequence of said robot an origin point.

6. The mapped robotic system of claim 1 , further configured to eliminate a high frequency noise element included in said robot link-sequence information.

7. A robot link-sequence mapping system, comprising:

a communication line to a robot; and

a computer having a processor and storage space in operable communication with the processor, the storage space configured by containing a software program which upon execution with the processor performs a method for mapping a link-sequence of a model to the robot, the method comprising:

receiving model link-sequence information regarding a position of links included in the model link-sequence,

specifying coordinate values of a plurality of predetermined link-sequences of said model,

calculating robot link-sequence information regarding a position of each link included in a link-sequence of said robot for an objective function to become smaller, the objective function corresponding to distances between a plurality of specified coordinate values and a respective plurality of places at a robot link-sequence, and

outputting to the communication line information regarding an angle of each joint in a link-sequence of said robot corresponding to said calculated robot link-sequence information.

8. The robot link-sequence mapping system of claim 7 , wherein the communication line to the robot comprises a wireless communication line.

9. The robot link-sequence mapping system of claim 7 , wherein the software program includes instructions which upon execution with the processor specifies coordinate values according to equations of the following form:

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where g i represents a length from a base end side, and d i represents a length of a link.

10. The robot link-sequence mapping system of claim 7 , wherein the when the number of links in a row of a mapping source model is greater than or equal to the number of links in the robot link-sequence, and a shape of the robot link-sequence is uniquely determined by setting the number and positions of the plurality of positions in the link-sequence.

11. The robot link-sequence mapping system of claim 7 , wherein the when the number of links in a row of a mapping source model is less than the number of links in the robot link-sequence, and a shape of the robot link-sequence is uniquely determined using a constraint condition, and the constraint condition minimizes a change in a preceding robot position or angle.

12. A link-sequence mapping method, comprising:

receiving model link-sequence information regarding link positions in a link-sequence of a model of a robot;

specifying coordinate values of a plurality of predetermined link-sequences of said model using at least a portion of the model link-sequence information received;

calculating robot link-sequence information regarding a position of each link included in a link-sequence of said robot for an objective function to become smaller, the objective function corresponding to each distance between a plurality of places specified by said specifying step and a plurality of places at a robot link-sequence; and

controlling the robot at least in part by outputting information regarding an angle of each joint in a link-sequence of said robot corresponding to robot link-sequence information calculated by said calculating step.

13. The link-sequence mapping method of claim 12 , wherein making said objective function smaller comprises making the distance smaller in a movable region shown by a joint movable range.

14. The link-sequence mapping method of claim 12 , further comprising normalizing a link-sequence length of said model.

15. The link-sequence mapping method of claim 12 , further comprising making a base end of a link-sequence of said model and a base end of a link-sequence of said robot an origin point.

16. The link-sequence mapping method of claim 12 , further comprising eliminating a high frequency noise element included in said robot link-sequence information.

17. The link-sequence mapping method of claim 12 , wherein the mapping method is performed in real time.

18. The link-sequence mapping method of claim 12 , wherein the outputting step repeats the information along a time series at one or more intervals.

19. The link-sequence mapping method of claim 12 , wherein the receiving step receives motion capture data in real time.

20. The link-sequence mapping method of claim 12 , wherein the method maps movement of a human being model to movement of a humanoid robot.