Dance motion pattern planning for K. Mei as dancing humanoid robot

As continuation of our last research about dancing humanoid robot in 33 degree of freedom, in this paper we describe how to build dance pattern planning of Indonesia traditional dance movement in complete degree of freedom. We discuss the primitive pose in that commonly happened in traditional dance and build the transition pattern among the pose. The motion pattern method between the poses is based on the ability of robot to reach zero moment point position, and also the system to synchronize timing for dance motion is built. In this research zero moment point is our most concern problem because the worst thing in humanoid research is when the robot cannot maintain the balance itself. The computation considers that the zero moment point stays in a support polygon area.