Demo abstract: Upper limb motion imitation module for humanoid robot using biomotion+ sensors

The aim of this work is to provide a humanoid robot that is able to replicate human's upper body movements by using motion capture data acquired from Biomotion+, developed by the Hamlyn Centre. This work proposes an upper limb motion imitation module for a humanoid robot. The module calculates joint angle trajectories, based on motion capture data, and sends these trajectories to a humanoid robot. The experimental results have demonstrated the effectiveness of the module which can achieve reasonable postural similarity of generated robot motions, compared to the captured human movements.