Abstract
Humanoid is designed based on human body configuration. We think it is effective and intuitive to make humanoid motion by using human motion data. Therefore, we developed IMU sensor suit to measure human motion for operating musculoskeletal humanoid which has human-like flexible and redundant joint structures. We integrated sensor data and made coordinate transformation to estimate human motions. As evaluation, we confirmed that the suit can measure human motions and make spine motion of Kenshiro. Moreover, we conducted a experiment to drive a car to show suit characteristics which can measure and operate rotational motion. As a result, we achieved driving a car by Kenshiro utilizing knee's yaw DOF to switch pedals. It showed effectiveness of humanoid operation by sensor suit.
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