DocumentCode :
3179868
Title :
Humanoid Motion Design Considering Rhythm Based on Human Motion Capture
Author :
Zhang, Lige ; Huang, Qiang ; Lv, Shusheng ; Shi, You ; Wang, Zhijie ; Jafri, Ali Raza
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol.
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
2491
Lastpage :
2496
Abstract :
This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. 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 expected that humanoid movements are highly similar to those of the human actor. In this paper, first the motion of the human actor is segmented into primitive motions. Then, the kinematics constraints and stability adjustment method are formulated. Next, the similarity evaluation considering rhythm is discussed, and the method to derive humanoid motion with high similarity, and satisfying kinematic constraints and dynamic stability, is presented. Finally, the effectiveness of the proposed method is illustrated by the experiment of Chinese Kungfu "sword" motion using our developed humanoid robot BHR-2 with 32 DOF
Keywords :
humanoid robots; legged locomotion; motion control; robot dynamics; robot kinematics; stability; Chinese Kungfu sword motion; dynamic stability; human motion capture; humanoid motion design; humanoid robot BHR-2; kinematics constraints; stability adjustment method; Design engineering; Design methodology; Humanoid robots; Humans; Intelligent robots; Kinematics; Mechatronics; Paper technology; Rhythm; Stability; Dynamic stability; Humanoid robot; Kinematics constraint; Rhythm; Similarity;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.281694
Filename :
4058762
Link To Document :
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