Generating whole body motions for a biped humanoid robot from captured human dances
作者： Shinichiro Nakaoka , Atsushi Nakazawa , Kazuhito Yokoi , Hirohisa Hirukawa , Katsushi Ikeuchi
DOI: 10.1109/ROBOT.2003.1242196
关键词:
摘要: The goal of this study is a system for robot to imitate human dances. This paper describes the process generate whole body motions which can be performed by an actual biped humanoid robot. Human dance are acquired through motion capturing system. We then extract symbolic representation made up primitive motions: essential postures in arm and step primitives leg motions. A joint angle sequence generated according these Then angles modified satisfy mechanical constraints For balance control, waist trajectory moved acquire dynamics consistency based on desired ZMP. tested OpenHRP simulator. In our test, Japanese folk dance, 'Jongara-bushi', was successfully HRP-1S.
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