Design of Humanoid Complicated Dynamic Motion with Similarity Considered

摘要

This paper explores a method of designing humanoid motion with rhythm considered based on human motion capture.Firstly,human motion is segmented into primitive motions.Secondly,the kinematics constraints and stability adjustment method are formulated.Thirdly,the similarity evaluation with rhythm considered is made,and a method to derive humanoid motion with high similarity is presented.Finally,an experiment of Chinese swordsmanship was performed using our developed humanoid robot BHR-2 to illustrate the effectiveness of this method.