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This paper presents a method to optimize motion from human motion for a humanoid robot with physical limits. Using the optimization scheme, objective functions incorporate spatial similarity with manipulability to preserve salient characteristics of trajectories, whereas constraints focus on representing angle, collision, velocity, and dynamic force as B-spline coefficients. To refine precision, in...
This paper presents a method to optimize and filter trajectories generated from recorded human motion for a humanoid robot with physical limits. The objective function is responsible for mimicking human trainers, enhancing the possibility for fast convergence, while constraints are used to transform motion within the limit of the capabilities of the humanoid robot. Those constraints for angle, velocity,...
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