An Efficient Method for Composing Whole Body Motions of a Humanoid Robot
نویسندگان
چکیده
This paper describes a method for composing whole body motions of a humanoid robot. Recently there have been many studies of controlling a humanoid robot, and robots have been acquiring the ability to perform various tasks. However, it is still complicated work for us to create complex whole body motions like humans. In order to solve this problem, we propose a motion composition method that uses primitive motions. A whole motion sequence is decomposed into several kinds of primitives. By acquiring primitives from a human motion, or editing primitives manually, we can easily generate a motion that can be performed by a robot. We have developed a software platform for motion composition, and generated robot performances of traditional folk dances based on human performances.
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