Humanoid Motion Design Considering Rhythm Based on Human Motion Capture

This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is expected that humanoid movements are highly similar to those of the human actor. In this paper, first the motion of the human actor is segmented into primitive motions. Then, the kinematics constraints and stability adjustment method are formulated. Next, the similarity evaluation considering rhythm is discussed, and the method to derive humanoid motion with high similarity, and satisfying kinematic constraints and dynamic stability, 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