{"ID":2887819,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.00362","arxiv_id":"2508.00362","title":"A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot","abstract":"Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and dynamics between humanoid robots and humans present a major challenge in accurately imitating motion while maintaining balance. In this paper, we propose a novel whole-body motion imitation framework for a full-size humanoid robot. The proposed method employs contact-aware whole-body motion retargeting to mimic human motion and provide initial values for reference trajectories, and the non-linear centroidal model predictive controller ensures the motion accuracy while maintaining balance and overcoming external disturbances in real time. The assistance of the whole-body controller allows for more precise torque control. Experiments have been conducted to imitate a variety of human motions both in simulation and in a real-world humanoid robot. These experiments demonstrate the capability of performing with accuracy and adaptability, which validates the effectiveness of our approach.","short_abstract":"Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and dynamics between humanoid robots and humans present a major challenge in accurat...","url_abs":"https://arxiv.org/abs/2508.00362","url_pdf":"https://arxiv.org/pdf/2508.00362v1","authors":"[\"Zhenghan Chen\",\"Haodong Zhang\",\"Dongqi Wang\",\"Jiyu Yu\",\"Haocheng Xu\",\"Yue Wang\",\"Rong Xiong\"]","published":"2025-08-01T06:45:55Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}