Abstract
Robots living with human should have human-like soft and smooth motions. A graceful motion gives positive impression to humans and it includes essentials of a human-like soft motion. The purpose of this research is to quantify the motion features which are uninfluenced by appearance. These motion features become a key factor to make a graceful impression. In this paper, we analyze a "graceful" pick-up motion of human, and discuss the characteristics of graceful motions by comparing graceful motions with boorish motions.
