Analytical upper body human motion transfer to naohumanoid robot

Abstract

This paper proposes an analytical method to solve the problem of upper body motion transfer from human to humanoid robot. By using humanoid normalized model as a model of upper body human motion, the proposed method then uses analytical inverse kinematics method to transfer human motion to humanoid robot. Because the nature of analytical method that is specific to robot with particular kinematics structure, we choose the Aldebaran NAO robot as target platform. We verify our method by using offline simulation and online experiment in the robot. The offline simulation shows that our method gives exact solution, while the online experiment gives a qualitatively good result.