@InProceedings{moulard:isr:2013,
  author    = {Moulard, Thomas and Yoshida, Eiichi and Nakaoka, Shin\textquotesingle ichiro},
  title     = {Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid},
  booktitle = {International Symposium on Robotics},
  year      = {2013},
  address   = {Seoul, South Korea},
  month     = {October 24-October 26},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/retargeting-isr2013.pdf},
  keywords  = {Optimization, Dynamics, Indexes, Robots, Trajectory, Kinematics},
  doi       = {10.1109/ISR.2013.6695715},
  abstract  = {In this paper, we present an optimizationbased retargeting method for precise reproduction of captured human motions by a humanoid robot. We take into account two important aspects of retargeting simultaneously: spatial relationship and robot dynamics model. The former takes care of the spatial relationship between the body parts based on \textquotedblleft interaction mesh\textquotedblright  to follow the human motion in a natural manner, whereas the latter adapts the resulting motion in such a way that the dynamic constraints such as torque limit or dynamic balance are being satisfied. We have integrated the interaction mesh and the dynamic constraints in a unified optimization framework, which is advantageous for generation of natural motions by a humanoid robot compared to previous work that performs those processes separately. We have validated the basic effectiveness of the proposed method with a sequence of postures converted from captured human data to a humanoid robot.}
}