Abstract-During the communication and interaction with a human using motions or gestures, a humanoid robot needs to not only look like a human but also behavior like a human to avoid confusions in the communication and interaction. Among humanlike behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle that is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate humanlike arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of hand. An example motion was performed using the KIST humanoid robot, MAHRU.
Abstract-This work presents a methodology to generate dynamically stable whole-body motions for a humanoid robot, which are converted from human motion capture data. The methodology consists of the kinematic and dynamical mappings for human-likeness and stability, respectively. The kinematic mapping includes the scaling of human foot and Zero Moment Point (ZMP) trajectories considering the geometric differences between a humanoid robot and a human. It also provides the conversion of human upper body motions using the method in [1]. The dynamic mapping modifies the humanoid pelvis motion to ensure the movement stability of humanoid wholebody motions, which are converted from the kinematic mapping. In addition, we propose a simplified human model to obtain a human ZMP trajectory, which is used as a reference ZMP trajectory for the humanoid robot to imitate during the kinematic mapping. A human whole-body dancing motion is converted by the methodology and performed by a humanoid robot with online balancing controllers.
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