International Journal of Robotics Research
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Biped Locomotion
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
A physically-based motion retargeting filter
ACM Transactions on Graphics (TOG)
A Parametric Optimization Approach to Walking Pattern Synthesis
International Journal of Robotics Research
Use of fuzzy system in modeling of biped walking robot
International Journal of Knowledge-based and Intelligent Engineering Systems - Selected papers from the KES2004 conference
Sensory reflex control for humanoid walking
IEEE Transactions on Robotics
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Mimicking human motion with a humanoid robot is essential for allowing humanoid robots to be used in service applications. Simply creating motions without considerations for balance and stability or directly copying motion from a human using motion capture and implementing it on a humanoid robot may not be successful because of the difference in physical properties between the human and the humanoid robot, which may cause instability and make it fall. Using the Zero Moment Point as the stability criteria, this work proposes a Constrained Analytical Trajectory Filter as part of an Analytical Motion Filter, which stabilizes a reference motion that can come from human motion capture data, kinematic synthesis, or animation software. The resulting solutions used in the Constrained Analytical Trajectory Filter provide insight into the complex interactions of motion and stability. The solutions were verified in simulation and with hardware, showing that the analytical filter can be successfully applied for stabilizing reference motions for humanoid robots which may be unstable otherwise.