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Recent Developments in Intelligent Information and Database Systems pp 355–363Cite as

Data-Driven Complex Motion Design for Humanoid Robots

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 642))

Abstract

Humanoid robot motion plan based on the similarity of human motion is a hot topic in recent years. For outer space or some other disaster scene, which is not safe and workable for humans, how to autonomously, quickly and accurately complete the task is extremely important for the humanoid robot. This paper presents an analysis method based on data-driven for complex choreography of humanoid robots. Firstly we convert the BVH motion capture data to joint angle trajectory of the humanoid robot. Secondly we optimize process to ensure the balance, so that robots can reproduce human motion. Then we can get a motion diagram of several motion sequences, through Tarjan algorithm by using the similarity between frames to reduce data redundancy. Finally the shortest path between the frames is obtained by Floyd algorithm, namely a sequence between arbitrary frames, driving robot to realize different trajectories rapidly. Experiment verified the feasibility.

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Acknowledgement

This work is supported by the National Natural Science Foundation of China (No.61370141, 61300015), the Program for Liaoning Innovative Research Team in University (Nos. LT2015002), the Program for Science and Technology Research in New Jinzhou District (No. KJCX-ZTPY-2014-0012).

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Authors and Affiliations

  1. Key Laboratory of Advanced Design and Intelligent Computing (Dalian University), Ministry of Education, 116622, Dalian, China

    Xiaojie Zheng, Pengfei Yi & Qiang Zhang

Authors
  1. Xiaojie Zheng
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  2. Pengfei Yi
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  3. Qiang Zhang
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Corresponding author

Correspondence to Qiang Zhang .

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Editors and Affiliations

  1. Faculty of Computer Science and Manageme, Wrocław University of Technology, Wrocław, Poland

    Dariusz Król

  2. Faculty of Computer Science and Manageme, Wrocław University of Technology, Wrocław, Poland

    Lech Madeyski

  3. Faculty of Computer Science and Manageme, Wrocław University of Technology, Wrocław, Poland

    Ngoc Thanh Nguyen

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Zheng, X., Yi, P., Zhang, Q. (2016). Data-Driven Complex Motion Design for Humanoid Robots. In: Król, D., Madeyski, L., Nguyen, N. (eds) Recent Developments in Intelligent Information and Database Systems. Studies in Computational Intelligence, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-319-31277-4_31

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  • DOI: https://doi.org/10.1007/978-3-319-31277-4_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31276-7

  • Online ISBN: 978-3-319-31277-4

  • eBook Packages: EngineeringEngineering (R0)

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