Abstract
This paper describes characteristics of graceful motions. Since robots in the welfare and service industry have been living with human closely, they have to do human-like motions. Graceful motions are contained in human-like motions and defined by kinematic scholars. Therefore, human-like motions can be expressed by expressing graceful motions. The purpose of this study is to quantify scholars' definitions and model graceful motions. We have focused on motions of waiters and investigated a handover motion. Their motions were recorded by motion capture system and evaluated by observers. The result revealed the motions of waiters give a favorable and graceful impression. All trajectories were mapped to 2 dimensional plane surfaces by conducting Principal Component Analysis and calculated by fitting 2 spline curves. As the result, characteristics of graceful motions were extracted as parameters of spline curves.
