A Humanoid Robot with Motion Imitation Ability

The objective of this work is to implement a humanoid robot that can imitate human's motions. The robot is with 33 cm height and 1.5 kg weight and with total 17 degree of freedom. A camera is set on robot's head to serve as an eye of the robot. The imitated human's motions include the lower body motions "Stand up" and "Squat down" and the various motions of hands. The paper introduces the whole structure of the robot and the algorithm for the robot to recognize and imitate human's motions.