Nancy S. Pollard, Jessica K. Hodgins, Marcia J. Riley, Christopher G. Atkeson
Using pre-recorded human motion and trajectory track-ing, we can easily control the motion of a humanoid robot for free-space, upper body gestures. However, the number of degrees of free-dom, range of joint motion, and achievable joint velocities of todays humanoid robots are far more limited than those of the average hu-man subject. In this paper, we explore a set of techniques for limiting human motion of upper body gestures to that achievable by a Sarcos humanoid robot located at ATR. We assess the quality of the results by comparing the motion of the human actor to that of the robot, both visually and quantitatively.