Comparison of dancing humanoid upper bodies

This paper provides a comparative study of the human motion imitation of twenty humanoid upper body structures. Human dance motion is used as a case study in motion imitation. The error between the desired humanoid posture and the actual posture attained is used to determine how well each humanoid imitates the human motion. Factors such as the number of joints, the range of joint motion, and location of the joints are investigated to determine their effects on the motion imitation results. It is found that the waist flexion joint and shoulder girdle joints are highly important for human motion imitation of humanoid upper bodies.