Abstract
Stable leg movement of humanoid complicate dynamic motion is an important issue in recent humanoid study. This paper explores the method of designing humanoid leg motion with high stability and similarity with human actor. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. In this paper, first the leg motion of the humanoid robot is segmented into primitive motions, and trajectory generation process is discussed. Then, dynamic stability based on ZMP (Zero Moment Point) of the humanoid motion is discussed, and the algorithm to derive humanoid leg motion with high stability and similarity is presented. Finally, the effectiveness of the proposed method is illustrated by the experiment of Chinese Kungfu “sword” motion using our developed humanoid robot BHR-2 with 32 DOF.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Vukobratovic, M., Juricic, D.: Contribution to the Synthesis of Biped Gait. IEEE Transactions on Bio-Medical Engineering BME-16(1), 1–6 (1969)
Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N., Tanie, K.: Planning Walking Patterns for a Biped Robot. IEEE Transactions on Robotics and Automation 17, 280–289 (2001)
Takanishi, A., Tochizawa, M., Karaki, H., Kato, I.: Dynamic Biped Walking Stabilized with Optimal Trunk and Waist Motion. In: IEEE International Workshop on Intelligent Robotics and Systems, Tsukuba, Japan, pp. 187–192. IEEE Press, Los Alamitos (1989)
Huang, Q., Kajita, S., Koyachi, N., Kaneko, K., Yokoi, K., Arai, H., Komoriya, K., Tanie, K.: A High Stability, Smooth Walking Pattern for a Biped Robots. In: IEEE International Conference on Robotics and Automation, pp. 65–71. IEEE Press, Detroit (1999)
Pollard, S., Hondgins, J., Riley, M.J., Atkeson, C.: Adapting human motion for the control of a humanoid robot. In: IEEE International Conference on Robotics and Automation, pp. 1390–1397. IEEE Press, Washington (2002)
Yamane, K., Nakamura, Y.: Dynamics Filter—Concept and Implementation of On-line Motion Generator for Human Figures. IEEE Transactions on Robotics and Automation 19, 688–695 (2000)
Nakaoka, S., Nakazawa, A., Yokoi, K., Hirukawa, H., Ikeuchi, K.: Generating Whole Body Motion for a Biped Humanoid Robot from Captured Human Dances. In: IEEE International Conference on Robotics and Automation, pp. 3905–3910. IEEE Press, Taipei (2003)
Nakaoka, S., Nakazawa, A., Yokoi, K., Ikeuchi, K.: Leg Motion Primitives for a Dancing Humanoid Robot. In: IEEE International Conference on Robotics and Automation, pp. 610–615. IEEE Press, New Orleans (2003)
Nakazawa, A., Nakaoka, S., Ikeuchi, K.: Matching and blending human motions using temporal scaleable dynamic programming. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 287–294. IEEE Press, Sendai (2004)
Nakazawa, A., Nakaoka, S., Ikeuchi, K.: Synthesize Stylistic Human Motion from Examples. In: IEEE International Conference on Robotics and Automation, pp. 14–19. IEEE Press, Taipei (2003)
Ruchanurucks, M., Nakalka, S., Kudoh, S., Ikeuchi, K.: Generation of Humanoid Robot Motions with Physical Constraints using Hierarchical B-Spline. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 674–679. IEEE Press, Beijing (2005)
Noritata, K., Kato, S., Yamakita, T., Itoh, H.: A Motion Generation system for Humanoid Robots-Taiji motion. In: International Symposium Micromechatronics and Human Science, pp. 265–269. IEEE Press, Nagoya (2003)
Zhang, L.G., Huang, Q., Lv, S.S., Shi, Y., Wang, Z.J., Jafri, A.R.: Humanoid Motion Design Considering Rhythm Based on Human Motion Capture. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2491–2496. IEEE Press, Beijing (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zhang, L., Bi, S., Liu, D. (2008). Dynamic Leg Motion Generation of Humanoid Robot Based on Human Motion Capture. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_10
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)