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author = {Kim, S. and Kim, C. and You, B. and Oh, S},
title = {Stable Whole-body Motion Generation for Humanoid robots to Imitate Human Motions},
howpublished = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS)},
year = {2009},
abstract = {This work presents a methodology to generate
dynamically stable whole-body motions for a humanoid robot,
which are converted from human motion capture data. The
methodology consists of the kinematic and dynamical mappings
for human-likeness and stability, respectively. The kinematic
mapping includes the scaling of human foot and Zero Moment
Point (ZMP) trajectories considering the geometric differences
between a humanoid robot and a human. It also provides the
conversion of human upper body motions using the method
in [1]. The dynamic mapping modifies the humanoid pelvis
motion to ensure the movement stability of humanoid wholebody
motions, which are converted from the kinematic mapping.
In addition, we propose a simplified human model to obtain
a human ZMP trajectory, which is used as a reference ZMP
trajectory for the humanoid robot to imitate during the kinematic
mapping. A human whole-body dancing motion is converted by
the methodology and performed by a humanoid robot with online
balancing controllers.},

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