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Published on Jun 30, 2011
This video shows the results of Jonas Koenemann's Bachelor's thesis about imitating human whole-body motions with a humanoid robot (e.g. for learning or teleoperation). Data is captured with a Xsens MVN mocap suit (more accurate than RGBD like a Kinect) and converted to joint angles of the robot in real time. A mapping between the human and the robot joints ensures the feasibility of the motion. The robot actively balances its center of mass over the support polygon and adjusts its joints with inverse kinematics.