Dynamic leg motion generation of humanoid robot based on human motion capture

Lige Zhang; Shusheng Bi; Dengchao Liu

doi:10.1007/978-3-540-88513-9_10

Dynamic leg motion generation of humanoid robot based on human motion capture

Lige Zhang^*
, Shusheng Bi
, Dengchao Liu

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
Taggers Engineering Ltd.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

Stable leg movement of humanoid complicate dynamic motion is an important issue in recent humanoid study. This paper explores the method of designing humanoid leg motion with high stability and similarity with human actor. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. In this paper, first the leg motion of the humanoid robot is segmented into primitive motions, and trajectory generation process is discussed. Then, dynamic stability based on ZMP (Zero Moment Point) of the humanoid motion is discussed, and the algorithm to derive humanoid leg motion with high stability and similarity 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.

Original language	English
Title of host publication	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
Publisher	Springer Verlag
Pages	83-92
Number of pages	10
Edition	PART 1
ISBN (Print)	3540885129, 9783540885122
DOIs	https://doi.org/10.1007/978-3-540-88513-9_10
State	Published - 2008
Event	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China Duration: 15 Oct 2008 → 17 Oct 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	5314 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/Territory	China
City	Wuhan
Period	15/10/08 → 17/10/08

Keywords

Humanoid robot
Leg primitive motion
Stability adjustment
Trajectory generation

Access to Document

10.1007/978-3-540-88513-9_10

Cite this

Zhang, L., Bi, S., & Liu, D. (2008). Dynamic leg motion generation of humanoid robot based on human motion capture. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 ed., pp. 83-92). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-88513-9_10

Zhang, Lige ; Bi, Shusheng ; Liu, Dengchao. / Dynamic leg motion generation of humanoid robot based on human motion capture. Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. pp. 83-92 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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title = "Dynamic leg motion generation of humanoid robot based on human motion capture",

abstract = "Stable leg movement of humanoid complicate dynamic motion is an important issue in recent humanoid study. This paper explores the method of designing humanoid leg motion with high stability and similarity with human actor. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. In this paper, first the leg motion of the humanoid robot is segmented into primitive motions, and trajectory generation process is discussed. Then, dynamic stability based on ZMP (Zero Moment Point) of the humanoid motion is discussed, and the algorithm to derive humanoid leg motion with high stability and similarity 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.",

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author = "Lige Zhang and Shusheng Bi and Dengchao Liu",

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booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",

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Zhang, L, Bi, S & Liu, D 2008, Dynamic leg motion generation of humanoid robot based on human motion capture. in Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 5314 LNAI, Springer Verlag, pp. 83-92, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, China, 15/10/08. https://doi.org/10.1007/978-3-540-88513-9_10

Dynamic leg motion generation of humanoid robot based on human motion capture. / Zhang, Lige; Bi, Shusheng; Liu, Dengchao.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. p. 83-92 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Zhang, Lige

AU - Bi, Shusheng

AU - Liu, Dengchao

PY - 2008

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N2 - Stable leg movement of humanoid complicate dynamic motion is an important issue in recent humanoid study. This paper explores the method of designing humanoid leg motion with high stability and similarity with human actor. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. In this paper, first the leg motion of the humanoid robot is segmented into primitive motions, and trajectory generation process is discussed. Then, dynamic stability based on ZMP (Zero Moment Point) of the humanoid motion is discussed, and the algorithm to derive humanoid leg motion with high stability and similarity 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 - Stable leg movement of humanoid complicate dynamic motion is an important issue in recent humanoid study. This paper explores the method of designing humanoid leg motion with high stability and similarity with human actor. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. In this paper, first the leg motion of the humanoid robot is segmented into primitive motions, and trajectory generation process is discussed. Then, dynamic stability based on ZMP (Zero Moment Point) of the humanoid motion is discussed, and the algorithm to derive humanoid leg motion with high stability and similarity 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 - Humanoid robot

KW - Leg primitive motion

KW - Stability adjustment

KW - Trajectory generation

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Zhang L, Bi S, Liu D. Dynamic leg motion generation of humanoid robot based on human motion capture. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 ed. Springer Verlag. 2008. p. 83-92. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-540-88513-9_10

Dynamic leg motion generation of humanoid robot based on human motion capture

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