Title :
Stability adjustment of dynamic motion considering similarity based on human motion capture
Author :
Zhang, Lige ; Huang, Qiang ; Peng, Zhaoqin ; Yang, Jie ; Lv, Shusheng ; Li, Kejie
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol.
Abstract :
The captured human data can\´t be used to drive the humanoid robot directly because of different body\´s configurations and physical properties between the humanoid robot and the human actor, and it must be adapted through stability adjustment. The stability is a fundamental condition for humanoid motion. A method of stability adjustment considering high similarity with the human actor is proposed in this paper. The effectiveness of the method is confirmed by simulations and experiments of Chinese Kungfu "Daoshu" using our developed 32 DOF humanoid robot
Keywords :
humanoid robots; robot dynamics; stability; dynamic motion; human motion capture; humanoid robot; stability adjustment; Data engineering; Equations; Hip; Humanoid robots; Humans; Kinematics; Leg; Legged locomotion; Mechatronics; Stability;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246266
