Automatic Generation of Kinematic Models for the Conversion of Human Motion Capture Data into Humanoid Robot Motion

@inproceedings{Ude2000AutomaticGO,
  title={Automatic Generation of Kinematic Models for the Conversion of Human Motion Capture Data into Humanoid Robot Motion},
  author={Ales Ude and Curtis Man and Marcia Riley and Christopher G. Atkeson},
  year={2000}
}
Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic model is constructed directly from the motion capture data without any manual measurements. We discuss… CONTINUE READING
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