Motion pattern design satisfying dynamical consistency and differential relations between position, velocity and acceleration

This paper proposes a motion pattern design method. A human cyclic motion is measured by a motion capture system, and it is transformed to a robot motion based on motion requirements. The motion requirements contain ‘motion conditions’, ‘dynamical consistency i.e. satisfaction of dynamic equation and constraints of contact force’, ‘input limitations’ and ‘differential relations between position, velocity and acceleration’. The effectiveness of the proposed method is verified by two tap dancing robots which are non-holonomic systems. Based on the attractor-based controller design, the transformed motions are realized, which means the obtained motions satisfy the motion requirements.