Reflection of Human's Character into Biped Walking of the Humanoid Robot

This paper presents a methodology to reflect human characters into humanoid walking motion. First, human's cyclic walking is simulated by a three-period scheme. Second, joint trajectories of the proposed walking scheme are parameterized by several parameters. Third, we propose a reasonable method to reflect representative human characters such as quick-tempered vs. relaxed, manly vs. feminine into the attained joint trajectory parameters.