Sony Corporation

Shukyohojin, Kongo Zen Sohonzan Shorinji

Toshiyasu Kunii

Lining Sun

Qinglian Guo

Paper fiber structure data simulating the paper fiber structure required for drawing a bled figure, and a method and apparatus for drawing, based upon the paper fiber structure data, a bled figure which gives an impression as if the figure were actually drawn on a paper sheet with ink. Specifically, the paper fiber structure is modelled to form paper fiber structure data set for correspondence with respective pixels in a figure. The ink flow through the paper fiber interstices is modelled for forming picture data representing a bled figure based upon the paper fiber structure data. Based on the picture data, the picture of the bled figure is displayed on a display device.

Method and apparatus for producing paper fiber structure data, and

A method for programming a robot or forming a numerical control program for a machine tool comprises analyzing the actual motions of a human being and designing a new motion based on knowledge obtained by analysis of the forces and torques acting on the joints of the human body. A robot body or machine tool is divided into a plurality of independent elements, and the motion of each element, when a force corresponding to a basic motion of a human being is exerted thereon, is calculated using dynamics. Constraints including the articulation of the robot body or machine tool and the range of movements of its joints are applied to the robot body or machine tool. Forces corresponding to motions produced by the application of constraints are calculated by inverse dynamics. The motions of and forces acting on the elements of the robot body or machine tool are displayed on a screen.

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Tokyo, Japan

Toshiyasu Kunii