Making feasible walking motion of humanoid robots from human motion capture data
A Dasgupta, Y Nakamura - Proceedings 1999 IEEE …, 1999 - ieeexplore.ieee.org
Proceedings 1999 IEEE international conference on robotics and …, 1999•ieeexplore.ieee.org
This work presents a study of the human/humanoid locomotion system and a method for
adaptation of the human motion capture data (HMCD) for driving a humanoid robot. The
analysis uses the previously defined concept of the zero moment point (ZMP) which
provides a basis for the adaptation of the HMCD. An appropriate model of the robot foot, in
agreement with the HMCD, is proposed. This model is used to plan a desired ZMP trajectory.
A scheme for approximately matching the actual ZMP trajectory to the desired ZMP …
adaptation of the human motion capture data (HMCD) for driving a humanoid robot. The
analysis uses the previously defined concept of the zero moment point (ZMP) which
provides a basis for the adaptation of the HMCD. An appropriate model of the robot foot, in
agreement with the HMCD, is proposed. This model is used to plan a desired ZMP trajectory.
A scheme for approximately matching the actual ZMP trajectory to the desired ZMP …
This work presents a study of the human/humanoid locomotion system and a method for adaptation of the human motion capture data (HMCD) for driving a humanoid robot. The analysis uses the previously defined concept of the zero moment point (ZMP) which provides a basis for the adaptation of the HMCD. An appropriate model of the robot foot, in agreement with the HMCD, is proposed. This model is used to plan a desired ZMP trajectory. A scheme for approximately matching the actual ZMP trajectory to the desired ZMP trajectory, through periodic joint motion correction at selected joints, is discussed. A method for resolving the ground reaction forces at the foot is also proposed.
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