Recognition and generation of motion primitives with humanoid robots

• Main Authors: Calderon, C.A.A., Mohan, R.E., Changjiu Zhou
• Format: Conference Proceeding
• Language: English
• Subjects: Biological system modeling; Control systems; Humanoid robots; Humans; Intelligent robots; Kinematics; Legged locomotion; Motion analysis; Motion control; Rehabilitation robotics
• ISSN: 2159-6247; 2159-6255
• DOI: 10.1109/AIM.2009.5229894

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to recognize and generate human-like motions, such as walking and kicking, for a humanoid robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently. The simulation results show that faster and more accurate searching can be achieved to generate efficient human-like gait. In comparison with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League.