Human motion data acquiring and analyzing method for humanoid robot motion designing

The methods of human motion data acquiring and analyzing for humanoid robot based on human motion capture are presented in this paper. Firstly, human motion data are obtained through a motion capture system, and the data of simplified human-humanoid model are outputted using motion redirection technique. Secondly, inverse kinematic solving method of humanoid robot based on human motion data is presented, and the joint angle of humanoid robot is obtained. Thirdly, motion trajectory adapting to humanoid robot is obtained after kinematic constraints and stability adjustment. Finally, the effectiveness of the proposed method is illustrated by simulations and experiments of Chinese Kungfu "sword" using a 32 DOF (Degree of freedom) humanoid robot.