This video shows a Nao humanoid imitating whole-body motions of humans in real time. To avoid falls of the robot that might occur when using direct imitation of the movements due to the different weight distribution, we developed an approach that actively balances the center of mass over the support polygon. Our system captures human motions with the Xsens MVN motion capture system. The video illustrates that the Nao is able to reliably imitate complex whole-body motions, which also include extended periods of time in single support mode.
Details can be found in our upcoming ICRA 2014 Paper:
Real-Time Imitation of Human Whole-Body Motions by Humanoids.
J. Koenemann, F. Burget, and M. Bennewitz.
In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2014.