TY - GEN
T1 - Dynamic leg motion generation of humanoid robot based on human motion capture
AU - Zhang, Lige
AU - Bi, Shusheng
AU - Liu, Dengchao
PY - 2008
Y1 - 2008
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
UR - https://www.scopus.com/pages/publications/56749153920
U2 - 10.1007/978-3-540-88513-9_10
DO - 10.1007/978-3-540-88513-9_10
M3 - 会议稿件
AN - SCOPUS:56749153920
SN - 3540885129
SN - 9783540885122
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 83
EP - 92
BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
PB - Springer Verlag
T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Y2 - 15 October 2008 through 17 October 2008
ER -