小型ヒューマノイドロボットによる人間動作の再現

（肩関節自由度の差異に対する補償）

抄録

This paper proposes a compensation method for degree of freedom of shoulder joint in reproduction of human motion with small humanoid robot. The proposed method uses a mapping to transform the human position into the robot position at each moment in a series of the target motion. The deep breath motion of radio exercises number 1 is selected as the target motion in our verification experiment. For motion reproduction by the forward kinematics based on the musculoskeletal analysis data, it is confirmed that the proposed method can compensate for the difference in the degree of freedom of the shoulder.