Japan’s National Institute of Advanced Industrial Science and Technology (AIST) has detailed the software used to make their robot dance (see some nice photos over at Pink Tentacle) in a recent press release. The software, dubbed Choreonoid (Choreography and Humanoid), is similar to conventional computer animation software. Users create key poses and the software automatically interpolates the motion between them. What makes the software unique is that it also corrects the poses if they are mechanically unstable, such as modifying the position of the feet and waist, allowing anyone to create motions compatible with the ZMP balancing method. This is especially important for robots like the HRP-4C, where complicated motions could easily cause it to fall over.
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