| Summary: | 碩士 === 國立臺北藝術大學 === 科技藝術研究所碩士班 === 97 === Humanoid robot has gained its popularity in the direction of industrial development due to its specialty and the purpose of development. The control methods developed on humanoid robot are way different from traditional industrial robot. Researches relate to the motion control of humanoid robot, are all looking for proper ways to manipulate robot’s physics. Also, the methods of character animation rely on Mocap system and animator, are expensive and time consuming. For making character animation in a more efficient way, we need brand new methods and interfaces.
Labanotation, a dance notation system invented by Rudolf Laban in 1920, is for recording human body movement in an intuitional way. Even though it is not as widespread and historic as music score is, Labanotation does earn its positions in many application aspects, such as dance, movement analysis, medical rehabilitations and so on. The principle of designing labanotation is mainly for fast reading. In compare to those numerical data interfaces, Labanotation has its absolute advantage in the field of Human-Computer Interface. And also because Labanotation has its significance in choreography, the capability to digitally reproduce the classical dance scores recorded in Labanotation will be meaningful in field of digital archiving and being worthy for its future research.
This research mainly discusses the method we propose to adopt Labanotation as an interface of manipulation, to design skeletal animations and movements of humanoid robot. In this research, we implemented a Laban Editor, as the main graphical user interface for editing Labanotation, and force-field math to solve and generate key gestures correspond to certain control of Labanotation’s definitions. Also, a 3D simulator has implemented to perform skeletal animation in real-time, and a servo controller interface for commanding a full body small humanoid robot.
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