Dynamic Leg Motion Generation of Humanoid Robot Based on Human Motion Capture

摘要

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.