{"id":1139,"date":"2025-07-10T13:22:58","date_gmt":"2025-07-10T04:22:58","guid":{"rendered":"https:\/\/speecys.com\/?p=1139"},"modified":"2025-07-25T09:43:58","modified_gmt":"2025-07-25T00:43:58","slug":"1139","status":"publish","type":"post","link":"https:\/\/speecys.com\/?p=1139","title":{"rendered":"How to move a robot (Multi Servo Control)"},"content":{"rendered":"\n<div class=\"wp-block-columns\">\n<div class=\"wp-block-column\" style=\"flex-basis:66.66%\">\n<script src=\"https:\/\/virakt.com\/play\/player.js\"><\/script><div class=\"virakt-player\" data-id=\"pf686f44a2c0978\" data-ratio=\"1.778\" data-type=\"video\"><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column\" style=\"flex-basis:33.33%\">\n<p class=\"wp-block-paragraph\">MF303 + MikuMikuDance<br>\uff083D Animation design tool\uff09<\/p>\n<\/div>\n<\/div>\n\n\n\n<p 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class=\"wp-block-paragraph\">\u306a\u305c\u30bb\u30de\u30f3\u30c6\u30a3\u30c3\u30af\u30b9\u306e\u8003\u3048\u3092\u8aac\u660e\u3057\u305f\u304b\u3068\u3044\u3046\u3068\u3001\u4eba\uff08\u30ed\u30dc\u30c3\u30c8\uff09\u306e\u52d5\u304d\u3092\u4f53\u7cfb\u5316\u3067\u304d\u308b\u304b\u3089\u3067\u3059\u3002\u4f8b\u3048\u3070 \u201d\u6012\u308a\u201d \u306e\u52d5\u304d\u3092\u6012\u308a\u306e\u5f37\u3055\u306b\u3088\u3063\u3066\uff11\uff5e\uff11\uff10\u6bb5\u968e\u307e\u3067\u7528\u610f\u3057\u3066\u304a\u3051\u3070\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5168\u4f53\u306e\u52d5\u304d\u306e\u30b7\u30ca\u30ea\u30aa\u306b\u6cbf\u3063\u3066\u300e\u3053\u3053\u3067\u306f3\u756a\u76ee\u306b\u5f37\u3044\u6012\u308a\u300f\u3092\u8868\u73fe\u3057\u3088\u3046\u3068\u304b\u3001\u300e\u6700\u5927\u306e\u6012\u308a\u300f\u3092\u8868\u73fe\u3057\u3088\u3046\u3068\u304b\u9078\u3093\u3067\u30ed\u30dc\u30c3\u30c8\u306b\u8868\u73fe\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u8981\u3059\u308b\u306b\u3044\u3061\u3044\u3061\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u52d5\u304b\u3059\u306e\u3067\u306f\u306a\u304f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u306e\u30b3\u30f3\u30c6\u30f3\u30c4\u756a\u53f7\u3092\u6307\u5b9a\u3059\u308c\u3070\u305d\u308c\u306b\u30de\u30c3\u30c1\u3057\u305f\u52d5\u304d\u3092\u30ed\u30dc\u30c3\u30c8\u306b\u3055\u305b\u3089\u308c\u308b\u306e\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u306f\u3001\u305d\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u306e\u30b3\u30f3\u30c6\u30f3\u30c4\u306f\u3069\u3046\u3084\u3063\u3066\u5275\u308b\u306e\u304b\uff1f\u3044\u3061\u3044\u3061\u6570\u5341\u500b\u306e\u30b5\u30fc\u30dc\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\uff23\u8a00\u8a9e\u3067\u66f8\u304f\u306e\u304b\uff1f\u3044\u3048\u3044\u3048\u3001\u305d\u3093\u306a\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002\uff13\uff24\u30a2\u30cb\u30e1\u306e\u5236\u4f5c\u30bd\u30d5\u30c8\u3067\u51fa\u6765\u308b\u3093\u3067\u3059\u3002\u4e0a\u306e\u30d3\u30c7\u30aa\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">This is about how to move a robot by moving many servos simultaneously. A robot uses at least 20 (more likely 40) servo motors. How can we move that many motors to make the robot move as smoothly and prettily as we would like? How to describe the movement of each individual servo in C language? It&#8217;s a bit daunting, isn&#8217;t it?<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The first thing to consider here is how we humans try to move our bodies. Broadly speaking, we can divide it into,<br><br>(1) Functional movements such as walking or climbing stairs, but with limited servo movement.<br>(2) Simple movements that require precision, such as grasping an object or following an object with the eyes.<br>(3) complex movements such as waving hands or greeting people, but the important thing is to look good. The accuracy of the movements can be appropriate. <br><br>Now, when you think about it this way, don&#8217;t you think that (3) is the most important in terms of the expressive power of a robot (human)? It is possible to write programs for (1) and (2) in C language, but (3) is very special.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Here I would like to think a little more about (3).<br>One idea you should know about it first is the idea of &#8220;Semantics&#8221;. The original meaning of the word is &#8220;to consider the content and meaning of a sentence as a matter of fact, not as an array of letters and symbols. &#8221; In the case of robots, it means thinking about &#8220;What is the meaning of their movements? &#8220;<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Consider, for example, when a person greets another person. There are many ways to do this: waving one hand, waving both hands, bailing, moving the whole body, and so on. But what you want to say is basically &#8220;Hello!&#8221;  Right? In short, there are many detailed categories of \u201cHello!\u201d For example, don&#8217;t you think that most of the human greetings can be expressed if there are \u201cHello 1\u201d to \u201cHello 100\u201d?  In other words, there are not so many patterns in human movements. Even if the way we wave our hands changes by 10 degrees or so, the person who sees it does not feel much difference in meaning, right?<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">If we think about the major categories of human movements, we see \u201cGreetings,\u201d \u201cAnger,\u201d \u201cSad,\u201d &#8220;Happy \u201c, \u201ddisappointed,\u201c \u201dI love you!&#8221; and so on, and if there were dozens of movements in each of these categories, I think most human emotional expression could be done. The old AIBOs used this idea to create various movements.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The reason I explained the idea of Semantics is that it allows us to systematize the movements of a person (robot). For example, if you have prepared 1 to 10 levels of \u201canger\u201d movements according to the intensity of anger, you can choose to have the robot express \u201cthe third most intense anger\u201d or \u201cthe greatest anger\u201d according to the scenario of the robot&#8217;s overall movements. In other words, it is not a matter of running a program every time. In short, instead of running the program every time, the robot can be made to move in accordance with the content number of the robot&#8217;s movement if you specify it.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">So, how do you create the content for the robot&#8217;s movements? Do we have to write programs in C language to move dozens of servos? No, you don&#8217;t have to\u2026 you can do it with 3D animation production software. See above Video.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>MF303 + MikuMikuDance\uff083D Animation design tool\uff09 \u591a\u304f\u306e\u30b5\u30fc\u30dc\u3092\u540c\u6642\u306b\u52d5\u304b\u3057\u3066\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3067\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u5c11\u306a\u304f\u8003\u3048\u3066\u308220\u500b\uff08\u591a\u3044\u306840\u500b\uff09\u307b\u3069\u306e\u30b5\u30fc\u30dc [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":86,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"swell_btn_cv_data":"","footnotes":""},"categories":[18,20],"tags":[],"class_list":["post-1139","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-all-posts","category-knowhow"],"_links":{"self":[{"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/posts\/1139","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/speecys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1139"}],"version-history":[{"count":24,"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/posts\/1139\/revisions"}],"predecessor-version":[{"id":1246,"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/posts\/1139\/revisions\/1246"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/speecys.com\/index.php?rest_route=\/wp\/v2\/media\/86"}],"wp:attachment":[{"href":"https:\/\/speecys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1139"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/speecys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1139"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/speecys.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1139"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}