Kinematics mapping of humanoid motion based on human motion

Xiao Jun Zhao; Qiang Huang; Zhao Qin Peng; Li Ge Zhang; Ke Jie Li

Kinematics mapping of humanoid motion based on human motion

Xiao Jun Zhao^*, Qiang Huang, Zhao Qin Peng, Li Ge Zhang, Ke Jie Li

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

27 Citations (Scopus)

Abstract

Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese Taijiquan using our self-developed 33 DOF humanoid robot.

Original language	English
Pages (from-to)	358-361+379
Journal	Jiqiren/Robot
Volume	27
Issue number	4
Publication status	Published - Jul 2005

Keywords

Ground contact condition
Humanoid robot
Kinematics mapping
Motion capture
Similarity

Cite this

@article{bdcda7fb70954248975ce7c1e3bfa35c,

title = "Kinematics mapping of humanoid motion based on human motion",

abstract = "Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese Taijiquan using our self-developed 33 DOF humanoid robot.",

keywords = "Ground contact condition, Humanoid robot, Kinematics mapping, Motion capture, Similarity",

author = "Zhao, {Xiao Jun} and Qiang Huang and Peng, {Zhao Qin} and Zhang, {Li Ge} and Li, {Ke Jie}",

year = "2005",

month = jul,

language = "English",

volume = "27",

pages = "358--361+379",

journal = "Jiqiren/Robot",

issn = "1002-0446",

publisher = "Chinese Academy of Sciences",

number = "4",

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TY - JOUR

T1 - Kinematics mapping of humanoid motion based on human motion

AU - Zhao, Xiao Jun

AU - Huang, Qiang

AU - Peng, Zhao Qin

AU - Zhang, Li Ge

AU - Li, Ke Jie

PY - 2005/7

Y1 - 2005/7

N2 - Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese Taijiquan using our self-developed 33 DOF humanoid robot.

AB - Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese Taijiquan using our self-developed 33 DOF humanoid robot.

KW - Ground contact condition

KW - Humanoid robot

KW - Kinematics mapping

KW - Motion capture

KW - Similarity

UR - http://www.scopus.com/inward/record.url?scp=23444452396&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:23444452396

SN - 1002-0446

VL - 27

SP - 358-361+379

JO - Jiqiren/Robot

JF - Jiqiren/Robot

IS - 4

ER -

Kinematics mapping of humanoid motion based on human motion

Abstract

Keywords

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