Regenerating human-like arm motions of humanoid robots for a movable object

A method to regenerate a new human-like arm motion by modifying and scaling a human arm motion is presented. The humanoid robot may not obtain all the necessary human-like motions from motion capture data. When the robot communicates with a person, the robot has to keep attention to the person by aligning the direction of the motion. The robot needs to modify human arm motions and regenerate new human-like arm motions without loosing the original meanings. The developed method modifies and scales the wrist trajectory of a human arm motion and reproduces the human-like arm. The motion of drawing multiple circles with a various radius and direction is examined.