Realization of Tai-Chi Motion Using a Humanoid Robot

Abstract

Even though in recent years research and development of humanoid robots has increased, the major topics of research generally focus on how to make a robot perform specific motions such as walking. However, walking is only one of the complicated motions humans can perform. For robots to play an active role in society as our partner, they must be able to simulate precisely various kinds of human actions. We chose tai-chi as an example of complicated human actions and succeeded in programming a robot to perform the 24 fundamental tai-chi actions.