Design of humanoid complicated dynamic motion with similarity considered

Li Ge Zhang; Qiang Huang; Jie Yang; You Shi; Zhi Jie Wang; Ali Raza Jafri

doi:10.1360/aas-007-0522

Design of humanoid complicated dynamic motion with similarity considered

Li Ge Zhang^*, Qiang Huang, Jie Yang, You Shi, Zhi Jie Wang, Ali Raza Jafri

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

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

21 Citations (Scopus)

Abstract

This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture. Firstly, human motion is segmented into primitive motions. Secondly, the kinematics constraints and stability adjustment method are formulated. Thirdly, the similarity evaluation with rhythm considered is made, and a method to derive humanoid motion with high similarity is presented. Finally, an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.

Original language	English
Pages (from-to)	522-528
Number of pages	7
Journal	Zidonghua Xuebao/Acta Automatica Sinica
Volume	33
Issue number	5
DOIs	https://doi.org/10.1360/aas-007-0522
Publication status	Published - May 2007

Keywords

Dynamic stability
Humanoid robot
Kinematics constraint
Rhythm
Similarity

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10.1360/aas-007-0522

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abstract = "This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture. Firstly, human motion is segmented into primitive motions. Secondly, the kinematics constraints and stability adjustment method are formulated. Thirdly, the similarity evaluation with rhythm considered is made, and a method to derive humanoid motion with high similarity is presented. Finally, an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.",

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author = "Zhang, {Li Ge} and Qiang Huang and Jie Yang and You Shi and Wang, {Zhi Jie} and Jafri, {Ali Raza}",

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AU - Shi, You

AU - Wang, Zhi Jie

AU - Jafri, Ali Raza

PY - 2007/5

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AB - This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture. Firstly, human motion is segmented into primitive motions. Secondly, the kinematics constraints and stability adjustment method are formulated. Thirdly, the similarity evaluation with rhythm considered is made, and a method to derive humanoid motion with high similarity is presented. Finally, an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.

KW - Dynamic stability

KW - Humanoid robot

KW - Kinematics constraint

KW - Rhythm

KW - Similarity

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IS - 5

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Design of humanoid complicated dynamic motion with similarity considered

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Keywords

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