Title :
Design of humanoid complicated dynamic motion based on human motion capture
Author :
Huang, Qiang ; Peng, Zhaoqin ; Zhang, Weimin ; Zhang, Lige ; Li, Kejie
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol., China
Abstract :
Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is desirable that humanoid movements are highly similar to those of the human actor, since the human actor\´s motion is regarded as a teaching motion. This paper explores the design of a humanoid complicated dynamic motion based on human motion capture. First, the kinematic constraints, including ground contact conditions, are formulated. Next, the similarity evaluation and dynamic stability based on ZMP (zero moment point) of the humanoid motion are discussed, and the method to derive humanoid motion with a high similarity, and satisfying kinematic constraints and dynamic stability, is presented. Finally, the effectiveness of the proposed method is confirmed by simulations and experiments with the "sword" motion - a complicated and dynamic Chinese kungfu movement - using our developed humanoid robot with 32 degree of freedom.
Keywords :
humanoid robots; robot dynamics; robot kinematics; stability; dynamic stability; human motion capture; humanoid complicated dynamic motion; humanoid robot; kinematic constraint; similarity evaluation; zero moment point; Data engineering; Education; Equations; Humanoid robots; Humans; Kinematics; Leg; Legged locomotion; Mechatronics; Stability; Dynamic stability; Humanoid robot; Kinematic constraint; Motion capture; Similarity evaluation;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545060