Abstract
Robots, which are applied in the welfare and the entertainment fields, require human-like movements. Graceful motions are unique to human. The graceful motions give positive an impression to humans and it includes essentials of a human-like soft motion. Features of graceful motions have been defined by kinesiology scholars. Aim of our research is to quantify scholar's definitions and to model graceful motions. This paper discusses the extraction of graceful motions features from hand-over motion by combining motion analysis using actual human motion with impression evaluation using CG animation. First we create the CG animation of a hand-over motion which hand trajectories are shaped by ellipse, and perform the impression evaluation. Then, we analyze trajectories of a hand-over motion performed by two actors. From experimental results, we extract some parameters of graceful motion.
