Designing a stable humanoid robot trajectory using a real human motion

The trajectory is one of major issues for a humanoid robot because not every trajectory can provide a stable robot motion. In this paper, a real human motion is used to generate a robot trajectory. Image processing and transformation are used to extract the trajectory from a human motion to a robot trajectory. The dynamic stability of a robot is considered by using the zero moment point (ZMP) because it can guarantee the dynamic stability of the interested robot. Some human motion cannot directly be used as a robot trajectory because their masses and inertias are different. The modified upper body angle is introduced in this paper to correct this problem. In the end of this paper, different human motions are applied in order to confirm this trajectory generation technique.