Converting constrained whole-body human motions to humanoid using smoothing
نویسندگان
چکیده
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.
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