Master Motor Map (MMM) — Framework and toolkit for capturing, representing, and reproducing human motion on humanoid robots

We present an extended version of our work on the design and implementation of a reference model of the human body, the Master Motor Map (MMM) which should serve as a unifying framework for capturing human motions, their representation in standard data structures and formats as well as their reproduction on humanoid robots. The MMM combines the definition of a comprehensive kinematics and dynamics model of the human body with 104 DoF including hands and feet with procedures and tools for unified capturing of human motions. We present online motion converters for the mapping of human and object motions to the MMM model while taking into account subject specific anthropométrie data as well as for the mapping of MMM motion to a target robot kinematics. Experimental evaluation of the approach performed on VICON motion recordings demonstrate the benefits of the MMM as an important step towards standardized human motion representation and mapping to humanoid robots.