Natural sit-down and chair-rise motions for a humanoid robot

We discuss a constructive procedure for planning human-like motions of humanoid robots on finite-time intervals. Besides complying with various constraints present in the robot dynamics, it allows us to reflect certain features of recorded and analyzed motions of a test person, even though the dimensions, the mass distribution, and the actuation of the robot are different. So, the steps in motion planning are complemented by a novel algorithm for control design to ensure contraction of the orbits of various perturbed closed-loop motions to the orbit of the prescribed target trajectory.