Motion design of multi degrees of freedom robot with dynamical consistency using motion reduction

This paper proposes an off-line periodic motion pattern design method using dimensional reduction. A human periodic motion is measured by a motion capture system, and it is projected onto a low dimensional space based on principal component analysis. The low dimensional motion pattern is modified, so that the high dimensional motion pattern satisfies the motion conditions, dynamical consistency and joint angle and torque limitations. The proposed method is applied to the motion pattern design of the planar bipedal robot. The moon-walk performed by a human is transformed to the robot motion. In this case, the motion conditions are the kinematic closed loop condition and the ground contact states of foot links. The floor reaction force condition and the satisfaction of the motion equation are given for dynamical consistency.