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http://dx.doi.org/10.7735/ksmte.2013.22.3.558

Generation and Animation of Optimal Robot Joint Motion data using Captured Human Motion data  

Bae, Tae Young (Seoul National University of Science and Technology, 317 Fronier Hall)
Kim, Young Seog (Seoul National University of Science and Technology, 918 Fronier Hall)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.22, no.3_1spc, 2013 , pp. 558-565 More about this Journal
Abstract
This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.
Keywords
Motion capture keyword; Android robot; Marker; Motion; Motion builder;
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