Design and similarity evaluation on humanoid motion based on human motion capture

SUMMARYThis paper explores the design of humanoid complicated dynamic motion based on human motion capture. Captured human data must be adapted for the humanoid robot because its kinematics and dynamics mechanisms differ from those of the human actor. It is expected that humanoid movements are highly similar to those of the human actor. First, the kinematics constraints, including ground contact conditions, are formulated. Second, the similarity evaluation on the humanoid motion based on both the spatial and temporal factors compared with the human motion is proposed. Third, the method to obtain humanoid motion with high similarity is presented. Finally, the effectiveness of the proposed method is confirmed by simulations and experiments of our developed humanoid robot “sword” motion performance.