Development of whole body motion imitation in humanoid robot

摘要

To be able to interact with humans, robot are made to perform similar motion to human movement. Imitation Learning or often called Motion Capture is one of the humanoid robot control techniques with human as an actor and the robot as an agent who will imitate the movement of the actor. This method offers flexibility and ease to modify robot system. This paper explores the method of designing whole body imitation in Humanoid Robot. Robot motion is controlled by Joint Space Control with reference motion captured by natural human motion through Microsoft Kinect. The motions are also preserved in database for later used on robot motion generation and teaching as well. Finally, the effectiveness of the proposed method is illustrated by the experiment of imitating Indonesia Traditional Dances motion using humanoid robot with 18 DOF.