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 used as support at the start and the end of the double support phase. The balance of the robot is respected using the zero moment point (ZMP) criterion and confirmed by the simulation software OPENHRP (General Robotics, Inc R ). First, the feet trajectory as well as the ZMP reference trajectory are defined from the motion of the robot controlled as a marionette with the measured human joint angles. Then a specific inverse kinematic (IK) algorithm is proposed to find the humanoid robot's joint trajectories respecting the constraints of balance, floor contacts, and joint limits. The studied motion presented in this paper is a human walking trajectory containing a start, a movement in a straight line, a stop, and a quarter turn. The method was developed to be easily used for human-like robots of different sizes, masses, and structures and has been tested on the robot HRP-2 (AIST, Kawada Industries, Inc R ) and on the small-sized humanoid robot HOAP-3 (Fujitsu Automation Ltd R ).

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The work presented in this paper deals with the generation of trajectories for humanoid robots imitating human gaits captured with a motion capture system. Once the human motion is recorded, this one is modified to be adapted to the robot morphology. The proposed method could be used for human-like robots of different sizes and masses. The generated gaits are closed to the humans ones while respecting the robot balance and the floor contacts. First the human joint angles are computed and directly applied to the robot kinematic model as a marionette. From this virtual motion, the trajectories of both feet and of the Zero Moment Point (ZMP) are generated respecting the constraints of floor contact and balance control. Moreover a strategy to avoid automatically feet collisions during single supports is detailed. From this data, an optimization algorithm is used to compute the joint angles of the robot while minimizing their variations. In this paper we present the results of a slalom transposed for the robot HRP-2 (Kawada Indutries, Inc).

The work presented in this paper deals with the generation of trajectories for humanoid robots imitating human gaits captured with a motion capture system. Once the human motion is recorded, this one is modified to be adapted to the robot morphology. The proposed method could be used for human-like robots of different sizes and masses. The generated gaits are closed to the human's ones while respecting the robot balance and the floor contacts. First the human joint angles are computed from the markers coordinates and applied directly to the robot kinematics model. Then, from this noncorrected motion, the trajectories of both feet and of the Zero Moment Point (ZMP) are generated respecting the constraints of floor contact and balance control. From this data, an inverse kinematic algorithm is used to compute the joint angles of the robot according to the feet and ZMP trajectories. The results with the robot HRP-2 (AIST, Kawada Industries, Inc) and the small-sized humanoid HOAP-3 (Fujitsu Automation Ltd) are compared with the human motion.