Study of humanoid robot gait based on human walking captured data

A feasible walking gait planning method for humanoid robot based on human motion capture data is proposed in this paper. Firstly, we collect human walking data with a human motion capture system and extract 14 key actions that represent the characteristics of human walking gait in a gait cycle; Then, we take the minimum distance from the toe and the heel of the subject to the level ground as the pivotal parameter of robot kinematic model, and compute the motion data of the 14 key moments in the joint space using the 7-link biped model of humanoid robot with consideration of the difference between the kinematic models of human and of humanoid; Finally, Our approach is validated by simulation of NAO robot in Webots.