Authors:
Koshiro Noritake
;
Shohei Kato
and
Hidenori Itoh
Affiliation:
Nagoya Institute of Technology, Japan
Keyword(s):
Humanoid robot, motion generation, Tai Chi Chuan, balance checking.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper proposes a static posture based motion generation system for humanoid robots. The system generates a sequence of motion from given several postures, and the motion is smooth and stable in the balance. We have produced all the motions of Tai Chi Chuan by the system. Motion generation for humanoids has been studied mainly based on the dynamics. Dynamic based method has, however, some defects: e.g., numerous parameters which can not be always prepared, expensive computational cost and no guarantee that the motions are stable in balance. We have, thus, studied less dependent-on-dynamics approach. A motion is described as a sequence of postures. Our system figure out if we need extra postures to insert for stability. This method enables humanoid robot, HOAP-1 to do Tai Chi Chuan.