以動作符號為基礎的人形骨架操作方法

人形機器人(Humanoid robot)是現今熱門的產業發展方向，由於人形機器人的特殊性與發展目的，使其操縱方式與傳統產業機器人相去甚遠，與機器人相關的各種研究，無不在尋找一個適切的機器人操作方式。而人物動畫(Character Animation)製作時所仰賴的「動作捕捉系統」(motion capture system)（圖1），或由熟悉人體肢體動態的動畫設計師所調整產出人物動畫，都是屬於高成本且耗時的製作，為了達到效率，需要有一種新的操作介面與方法。拉邦符譜（Labanotation）[1]，是20世紀初所發明的一種肢體記錄方法，雖不及樂譜的歷史悠久與廣泛流傳，但其廣為舞蹈、肢體分析、醫療復健等領域的特定族群所擁簇。拉邦符譜的設計，是以方便閱讀為出發點，較於數值資料輸入的方式，以符號示意具有較為符合人性化操作介面（Human-Computer Interface）的優點，且拉邦符譜在舞蹈藝術領域上有其重要性與地位，若能以數位方式重現舞譜中所記載的演出，將具有數位典藏的意涵，應是相當值得進行的研究。本研究主要探討以拉邦舞譜的記譜方式，運用在現今人形骨架的動畫設計，以及人形機器人的動作操作介面。論文中實作了「拉邦動作編輯器」，以圖形的介面，提供拉幫符號的編輯，並以引力場的方式，解決部分符號對應的姿勢串接，「動作模擬器」則即時的呈現使用者編輯後的資料，以3D動畫的方式，展示動作，及以「伺服機控制介面」，傳送伺服機指令到小型機器人。

關鍵字

人形機器人；拉邦舞譜；骨架動畫；人機介面

並列摘要

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.

並列關鍵字

Humanoid Robot ； Labanotation ； Skeletal Animation ； HCI

參考文獻

[3] Ben Choi & YanBing Chen. “Humanoid Motion Description Language”.2002

[2] Ann Hutchinson Guest.”A History of the Development of The Laban Notation System”,Gevera Press,1995.

[1] Ann Hutchinson Guest. Labanotation : “The System of Analyzing and Recording Movement 4th edition”. Routledge, 2005.

[9] Jerry Edsall. “Animation Blending: Achieving Inverse Kinematics and More”. In www.gamastra.com/features/20030704/edsall_pfv.htm Gamastra,July 4,2003

[13] Luis Unzueta,Manuel Peinado,Roman Boulic,Angel Suescun,”Full-body performance animateon with Sequential Inverse Kinematics”,in Graphical Models 70(2008) 87-104.

國際替代計量

以動作符號為基礎的人形骨架操作方法

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