Abstract
New key poses input system for the Choreonoid that is integrated software to directly generate and edit the whole-body motion of a humanoid robot is developed. Thanks to Kinect^<TM> and OpenNI^<TM>, the system captures human poses without any markers and get position and orientation data of key points of the human body from the pose. The data is converted to the joint angles of a humanoid robot to generate the humanoid pose similar to the human pose. This interface is implemented as the plugin of Choreonoid.
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