ZHAO Xiao-jun, HUANG Qiang, PENG Zhao-qin, ZHANG Li-ge, LI Ke-jie. Kinematics Mapping of Humanoid Motion Based on Human Motion[J]. ROBOT, 2005, 27(4): 358-361,379.
Citation:
ZHAO Xiao-jun, HUANG Qiang, PENG Zhao-qin, ZHANG Li-ge, LI Ke-jie. Kinematics Mapping of Humanoid Motion Based on Human Motion[J]. ROBOT, 2005, 27(4): 358-361,379.
ZHAO Xiao-jun, HUANG Qiang, PENG Zhao-qin, ZHANG Li-ge, LI Ke-jie. Kinematics Mapping of Humanoid Motion Based on Human Motion[J]. ROBOT, 2005, 27(4): 358-361,379.
Citation:
ZHAO Xiao-jun, HUANG Qiang, PENG Zhao-qin, ZHANG Li-ge, LI Ke-jie. Kinematics Mapping of Humanoid Motion Based on Human Motion[J]. ROBOT, 2005, 27(4): 358-361,379.
Kinematics Mapping of Humanoid Motion Based on Human Motion
Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese "Taijiquan" using our self-developed 33 DOF humanoid robot.
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