Velocity sequences of the right knee angle (upper row) and left shoulder pitch angle (lower row) generated for 1.2 (left row) and 1.5 (right row) times faster tempos than the original tempo.
The green lines represent the corresponding joint angular velocities of the motion generated by simple temporal scaling; proportional temporal shrinkages are applied to task sequences and motion generation is done using the Nakaoka system [6
]. The blue lines represent the joint angular velocities of the motion generated using our proposed system. The gray lines represent the upper/lower limits of the velocity. Motions generated using our method satisfy the limitations and are feasible for the physical humanoid robot.