This paper proposed a method of online walking pattern generation based on key parameters of off-line typical walking patterns for humanoid robot. The key parameters include hip parameters, step length, walking cycle and so on. The offline walking pattern generation method is based on ZMP. The design of the system software of humanoid BHR-2 is also described in this paper, in order to ensure the real task can be finished on time, the process of online walking patterns generation is placed outside the processor which used for real-time control. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF

The complexity of nonlinear differential equations of dynamics makes it practically impossible to obtain the walk pattern on-line through computing the whole dynamics. This paper proposed a method of online trajectory generation based on key parameters of off-line typical walk patterns for a biped humanoid. The key parameters include hip parameters, step length, walking cycle and so on. The walking pattern can be obtained according to these parameters. In order to generate walking patterns online, first the key parameters of the on-line walking pattern are computed based on the parameters of off-line typical patterns, then stability optimization has been done on-line and on-line trajectories are derived. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot with 33 DOF.

Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is desirable that humanoid movements are highly similar to those of the human actor, since the human actor's motion is regarded as a teaching motion. This paper explores the design of a humanoid complicated dynamic motion based on human motion capture. First, the kinematic constraints, including ground contact conditions, are formulated. Next, the similarity evaluation and dynamic stability based on ZMP (zero moment point) of the humanoid motion are discussed, and the method to derive humanoid motion with a high similarity, and satisfying kinematic constraints and dynamic stability, is presented. Finally, the effectiveness of the proposed method is confirmed by simulations and experiments with the "sword" motion - a complicated and dynamic Chinese kungfu movement - using our developed humanoid robot with 32 degree of freedom.

The captured data must be adapted for the humanoid because its kinematics and dynamic differ from those of the human actor. The kinematics constraints such as ground contact conditions are crucial for humanoid locomotion. Furthermore, it is desirable that the humanoid motion have of high similarity with those of the human actor. In this paper, first the similarity function of the humanoid motion is proposed. Then, the kinematics constrains including ground contact conditions are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment of Chinese Kungfu "Taiji" using our developed 33 DOF humanoid robot.