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    • 5. 发明专利
    • MOTION STATE GENERATING METHOD AND MEDIUM RECORDING THAT METHOD
    • JP2000249570A
    • 2000-09-14
    • JP4918099
    • 1999-02-25
    • NIPPON TELEGRAPH & TELEPHONE
    • TSUTSUGUCHI KENSONEHARA NOBORU
    • G01C22/00G01L5/00G06T13/20G06T13/40G06T15/70
    • PROBLEM TO BE SOLVED: To generate an animation easily simply through input of walking style by determining the sum of triangular function as a floor reaction function based on the speed of a motion body on the floor and the coefficients of a specific triangular function thereby generating the time variation of floor reaction approximately. SOLUTION: A walking style acquisition means 101 acquires the walking style and determines the time T of one step from a specified mathematical expression and then a phase determining means 102 determines the phase of a triangular function becoming the linear combination base using the value of T. A number of term determining means 103 determines the number of triangular functions and a coefficient determining means 104 determines prestored coefficients and the coefficients of triangular function for predetermined coefficients. A function combining means 105 calculates the linear sum using the triangular function of base, phase, number of terms and coefficients. An initial condition determining means 201 acquires initial conditions of the center of gravity and speed, a body weight determining means 202 determines the body weight, and a floor reaction combining means 203 combines floor reactions using these numeral values and functions. A center of gravity calculating means 204 calculates time variation of the center of gravity using the approximate value of floor reaction and calculates the center of gravity according to the motion expression thereof.