Online dynamical retouch of motion patterns towards animatronic humanoid robots

This paper presents an online dynamical retouch method of referential motion patterns for humanoid robots. It converts transition sequences of desired posture and supporting state which are rough in terms of both time and space to a set of smooth piecewise functions applicable to actual robots with dynamical constraints taken into account. It is based on boundary condition relaxation method, and has an advantage that it completely works in online, although it has a latency of hundreds of milliseconds due to a batch operation. A virtual fighting between a real human and a robot is demonstrated as an application. It forms a completely autonomous humanoid system consisting of decision-making mechanism and a real robot controller, featuring mimetic communication model