The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, Hyatt Regency, St. Louis, USA, Oct. 11-15, 2009

IROS 2009 Paper Abstract


Paper TuIIT1.3

Kim, Seungsu (EPFL), Kim, ChangHwan (Korea Institute of Science and Technology), YOU, BUM JAE (KIST), Oh, Sang-Rok (MIC)

Stable Whole-Body Motion Generation for Humanoid Robots to Imitate Human Motions

Scheduled for presentation during the Regular Sessions "Humanoid Robot Motion Control" (TuIIT1), Tuesday, October 13, 2009, 11:30−11:50, Grand A

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, Hyatt Regency St. Louis Riverfront, St. Louis, USA

This information is tentative and subject to change. Compiled on June 6, 2020

Keywords Humanoid Robots


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 on-line balancing controllers.



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