김창환 김승수 나성권 유범재 2024-01-20T22:06:13Z 2024-01-20T22:06:13Z 2021-09-06 2008-12 1975-6291 https://pubs.kist.re.kr/handle/201004/132934 People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion. Korean 한국로봇학회 단순인체모델 기반 휴머노이드의 인간형 전신동작 생성 Human-like Whole Body Motion Generation of Humanoid Based on Simplified human Model Article 2 로봇학회 논문지, v.3, no.4, pp.287 - 299 로봇학회 논문지 3 4 287 299 ART001418136 Human-like Whole Body Motion Simplified Human Model Humanoid Robot Human Motion Imitation