Making Feasible Walking Motion of Humanoid Robots from Human Motion Capture Data
نویسندگان
چکیده
Thtiswork presents n,stmly of the human / h,ummwid lixmmotion. system. ond a method for odoptotion of the Human Motion Capture Data (HMCD) for drivinfi o humanoid robot. The anmlysis uses the preciously defined concept of th,e Zero Moment Point (ZMP) wh,id prwides (Lbasis for the u,do.ptation, of the HMCD. An u,ppropri~, model of the robot foot, an ogreem,en,t with, the HMCD, is proposed. This model is used to plo,n a desired ZMP trojedory.A scheme fcw approximately matching the actual ZMP irojectory to the desired ZMP trajectory, through periodic joint motion correction o<tselected joints, is di.5cussed. A method for resolwin,g th,eground reaction forces d 1 the foot is dso proposed.
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