Implementation of Tai Chi Chuan on humanoid robot

摘要

Because of the various movement of entire body, Tai Chi Chuan is considered to be the target motion for humanoid robots. This paper shows that the implementation strategy of Tai Chi Chuan on small humanoid robot. The frame of small humanoid robot is introduced, and the basic method of complicated gait and attitude planning is discussed. Aiming at the designing and the implementation of Tai Chi Chuan on humanoid robot, an approach to extract symbolic representation which is made up of primitive motions and generate human-like complicated motions based on capture and script in RoboBasic language is presented. As an example on Tai Chi Chuan, “Left Lower Body and Stand on One Leg” is achieved. The result shows that this strategy is feasible and effective.