HRP-2 reproducing a human slalom - the whole process

The work presented in this paper deals with the generation of trajectories for humanoid robots imitating human gaits captured with a motion capture system. Once the human motion is recorded, this one is modified to be adapted to the robot morphology. The proposed method could be used for human-like robots of different sizes and masses. The generated gaits are closed to the humans ones while respecting the robot balance and the floor contacts. First the human joint angles are computed and directly applied to the robot kinematic model as a marionette. From this virtual motion, the trajectories of both feet and of the zero moment point (ZMP) are generated respecting the constraints of floor contact and balance control. Moreover a strategy to avoid automatically feet collisions during single supports is detailed. From this data, an optimization algorithm is used to compute the joint angles of the robot while minimizing their variations. In this paper we present the results of a slalom transposed for the robot HRP-2 (Kawada Indutries, Inc).