Generation of human-like motion on anthropomorphic systems using inverse dynamics.

Layale Saab (1) , Philippe Souères (1) , Nicolas Mansard (1) , Jean-Yves Fourquet (2)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 LGP - Laboratoire Génie de Production

This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.

Domaines: Robotique [cs.RO]; Sciences cognitives

Layale Saab, Philippe Souères, Nicolas Mansard, Jean-Yves Fourquet. Generation of human-like motion on anthropomorphic systems using inverse dynamics.. Computer Methods in Biomechanics and Biomedical Engineering, 2012, 15 Suppl 1, pp.156-8. ⟨10.1080/10255842.2012.713723⟩. ⟨hal-00764236⟩