Granted Patent B2

US 12,569,996 · App. 18/475,526 · Granted Mar 10, 2026

Inventors: Jungsoo Cho (Seoul, KR); Sehyuk Yim (Seoul, KR)

Assignee: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

B25J9/1664B25J9/163B25J9/1679B25J11/004

Abstract

Claims (37)

1 . A method of generating movement of a robot, the method comprising:

identifying a plurality of parts of a melody formed by a plurality of notes, based on a change in a pattern of the plurality of notes as the melody is played;

generating a rhythm for each of the identified parts of the melody;

assigning each of the plurality of notes that form the generated rhythm to one of a right hand and a left hand of the robot;

scheduling swing time of each of the right hand and the left hand;

generating a trajectory for each of a plurality of joints of the robot that respectively controls movement of the right hand and the left hand of the robot for playing the rhythm of each of the parts based on the scheduled swing time of each of the right hand and the left hand;

generating a play motion of the robot by controlling a motion of each of the plurality of joints according to the generated trajectory for each of the plurality of joints; and

scheduling strike time of each of a plurality of drums according to an interval between notes of the generated rhythm of the each part for each of the right hand and the left hand to which the each note is assigned,

wherein, in the scheduling of the swing time, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time of the each note,

wherein, in the scheduling of the swing time, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time such that the right hand and the left hand do not collide with each other, and

wherein the swing time for each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time according to a swing rule that defines time and a height of each swing of the right hand and the left hand according to the pattern of the plurality of notes such that the right hand and the left hand of the robot do not collide with each other.

2 . The method of claim 1 , wherein, in the identifying of the plurality of parts, a first beat corresponding to a note at which a first pattern starts among the plurality of notes forming the melody and a part change point corresponding to a boundary where the pattern of the plurality of notes changes are detected, and the plurality of parts of the melody are identified according to the detected first beat and the detected part change point.

3 . The method of claim 2 , wherein the identifying of the plurality of parts comprises:

detecting beat per minute (BPM) of the melody;

detecting the first beat based on the detected BPM;

detecting the part change point based on the detected BPM; and

identifying the plurality of parts of the melody according to the detected first beat and the detected part change point.

4 . The method of claim 1 , wherein, in the generating of the rhythm of the each part, the rhythm of the melody is generated by inputting each part of the melody to an input layer of an artificial neural network and acquiring the rhythm of the each part from an output layer of the artificial neural network.

5 . The method of claim 1 , wherein, in the generating of the rhythm of the each part, the rhythm and a fill-in of the each part for each of the plurality of identified parts are generated, and,

wherein in the generating of each of the plurality of notes, each of the plurality of notes forming the generated rhythm and the generated fill-in of the each part is assigned to one of the right hand and the left hand of the robot.

6 . The method of claim 1 , wherein, in the assigning of each of the plurality of notes, each of the plurality of parts forming the rhythm of the each part is assigned to one of the right hand and the left hand according to a play pattern rule that defines a note assignment rule of each of the right hand and the left hand according to the pattern of the plurality of notes.

7 . The method of claim 1 , further comprising:

generating a wrist snap trajectory of each of the right and the left hand according to the scheduled swing time of each of the right hand and the left hand,

wherein, in the generating of the trajectory of each of the plurality of joints of the robot, the trajectory of each of the plurality of joints of the robot is generated by converting the generated wrist snap trajectory of each of the right hand and the left hand into a trajectory of each joint of the robot by using a closed-loop inverse kinematic algorithm.

8 . A computer program product comprising a non-transitory computer-readable recording medium having recorded thereon at least one program comprising commands, which when executed by a computer, performs the method of claim 1 .

9 . An apparatus for generating movement of a robot, the apparatus comprising:

a processor including a part identifier configured to identify a plurality of parts of a melody formed by a plurality of notes, based on a change in a pattern of the plurality of notes as the melody is played;

a rhythm generator configured to generate a rhythm for each of the identified parts of the melody;

a note assigner configured to assign each of the plurality of notes that form the generated rhythm to one of a right hand and a left hand of the robot;

a time scheduler configured to:

schedule swing time of each of the right hand and the left hand; and

schedule strike time of each of a plurality of drums according to an interval between notes of the generated rhythm of the each part for each of the right hand and the left hand to which the each note is assigned;

a joint trajectory generator configured to generate a trajectory for each of a plurality of joints of the robot that respectively controls movement of the right hand and the left hand of the robot for playing the rhythm of each of the part based on the scheduled swing time of each of the right hand and the left hand; and

a play motion generator configured to generate a play motion of the robot by controlling a motion of each of the plurality of joints according to the generated trajectory for each of the plurality of joints,

wherein, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time of the each note,

wherein, the swing time of each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time such that the right hand and the left hand do not collide with each other, and

wherein the swing time for each of the right hand and the left hand to which the each note is assigned is scheduled based on the scheduled strike time according to a swing rule that defines time and a height of each swing of the right hand and the left hand according to the pattern of the plurality of notes such that the right hand and the left hand of the robot do not collide with each other.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (25)