Analysis of Human Swing Movement and Transferring into Robot

Abstract

Based on Generalized Motor Program, we analyzed the skill of human's table-tennis movement We hypothesized that it can be divided into arm swing and translational movements by upper and lower body movements, respectively. We expressed 3D position of the racket by only one parameter resulted from the analysis using Principal Component Analysis. Body trunk position measurement attested the lower body plays the role of keeping fixed relative-position between the ball and the body trunk at any hitting time. By applying human skills in upper and lower body movements, we could make the robot properly play table-tennis with a human.