Subjective evaluation of dancing motion model with a limited degree-of-freedom

Traditional automata perform only one pattern of motions because they are controlled by mechanical components like cams and gears. We have developed computer controlled automata which can perform various motions by changing the computer programs. We attempts to use human dancing motion for motion planning of the automata. But it has a limited degrees-of-freedom (DOF), while human dancing motions have many DOFs. To solve the problem, we propose a method to select important joints of the human dancing motion model, and to reduce the degree-of-freedom by restricting the unimportant ones. In this method, we evaluate the movement of center of gravity of each body part to decide the importance of joint. We also evaluate the generated motion by subjective evaluation, and the effectiveness is shown.