Abstract
We developed a generation system of a humanoid dance motion reserving three dance important elements : foot touch state, joint position, and Key-pose. First, the system recognizes 7 kinds of foot touch states in human dance motion using the height and velocity of ankles, the yaw angle velocity and pitch angle of feet, and the trajectory of ZMP. Second, the system calculates humanoid's postures from human's reserving joint positions by using the regression plane of the crotch, knee, ankle, and toe position of each leg. Finally, the trajectory ,which is the sequence of the humanoid's postures, is modified not only to satisfy the physical restriction but also to reserve features of each foot touch state and Key-pose.
