In the future, robots will become common thing in daily life. For offering services to the human, it is very important to robots to be familar with human. To achieve this goal, the shapes and functions of the robot must be like those of human`s. So humanoid robots will play an important role in the future.
In this thesis, we designed and implemented a humanoid robot. And to generate its motion, we used key frame method and motion capture data. To generate natural motions, we uses the motion capture data recorded from a professional actor. However, some mechanical limitations of the current humanoid robot prevent the motion capture data from being directly applied to the robot. So the motion data must be edited with proper methods to make robot act like human.
We find the configurations in the motion capture data that robot can not perform, and we solve the limited degree-of-freedom problem by using inverse kinematics and some heuristic methods. Then the robot can imitate the original motion.
