From human motion capture to humanoid locomotion imitation Application to the robots HRP-2 and HOAP-3

Abstract

This paper presents a method to generate humanoid gaits from a human locomotion pattern recorded by a motion capture system. Thirty seven reflective markers were fixed on the human subject skin in order to get the subject whole body motion. To reproduce the human gait, especially the toes and heel contacts, the front and back edges of the robot’s feet are… (More)
DOI: 10.1017/S0263574710000172

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