Capturing and analyzing of human motion for designing humanoid motion

This paper mainly discusses the construction of a human motion capture system and analyzes the captured data of human motion for humanoid motion design. Using the motion capture system, first the data of the actor motion can be obtained by setting markers on the actor\´s body. The data must be modified to adapt for the humanoid model because of the differences between the human and the humanoid robot. Then, the joint angels of the humanoid can be acquired by solving positive kinematics and inverse kinematics equations. The effectiveness of the proposed method is illustrated by simulations and experiments of a complicated Chinese kungfu "sword" using a 32 DOF humanoid robot.