Converting constrained whole-body human motions to humanoid using smoothing Converting constrained whole-body human motions to humanoid using smoothing

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Author(s)

    • Morishima Saori
    • Department of Mechanical System Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology
    • Venture Gentiane
    • Department of Mechanical System Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology

Abstract

This paper presents a method for generating a whole-body squat motion for humanoid robot HRP-4 from human motion data. We convert joint angle trajectories into linear combination of base functions which are cubic B splines. In order to take into account the interactions with the environment and the stability conditions, we added appropriate kinematics constraints to the trajectory optimization to perform smoothing of whole-body motion. We investigated the validity of this method by using dynamical simulator and we succeeded in simulating squat motion with this method.

Journal

  • The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6(0), 314, 2015

    The Japan Society of Mechanical Engineers

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