Abstract
The methods of human motion data acquiring and analyzing for humanoid robot based on human motion capture are presented in this paper.Firstly, human motion data are obtained through a motion capture system, and the data of simplified human-humanoid model are outputted using motion redirection technique.Secondly, inverse kinematic solving method of humanoid robot based on human motion data is presented, and the joint angle of humanoid robot is obtained.Thirdly, motion trajectory adapting to humanoid robot is obtained after kinematic constraints and stability adjustment.Finally, the e?ectiveness of the proposed method is illustrated by simulations and experiments of Chinese Kungfu"sword"using a 32 DOF(Degree of freedom) humanoid robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
