TY - GEN
T1 - Humanoid motion design considering rhythm based on human motion capture
AU - Zhang, Lige
AU - Huang, Qiang
AU - Lv, Shusheng
AU - Shi, You
AU - Wang, Zhijie
AU - Jafri, Ali Raza
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Dynamic stability
KW - Humanoid robot
KW - Kinematics constraint
KW - Rhythm
KW - Similarity
UR - http://www.scopus.com/inward/record.url?scp=34250668713&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281694
DO - 10.1109/IROS.2006.281694
M3 - Conference contribution
AN - SCOPUS:34250668713
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2491
EP - 2496
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -