Motion Editing Tool to Create Dancing Motions of Humanoid Robot

Abstract

In this paper, a motion editing tool to create dancing motions of a humanoid robot is proposed. In order to build performances or dancing of a humanoid robot, a motion editing tool to create specific motions is necessary. Especially, to generate more natural motions is required for a dancing robot. We proposed a motion editing tool and algorithm to create the natural motions. The proposed motion editing tool can create robot's motions composed of several steps which are captured from every joint while the robot plays. The motion editing tool generates the continuous motion interpolated between each steps. A humanoid robot of 50 cm tall is developed to test the proposed tool. The robot using the motion editing tool was demonstrated the natural dancing performance.