Abstract: Humanoid motion of manipulator is studied. The problem of human-posture recognition, human-robot motion mapping and humanoid motion control are summarized. A Kinect is used to capture the human body movement. In the coordinate system on the human body, the joint angles of the human arm are calculated to recognize the motion of shoulder joint and elbow joint. By analyzing the difference between the motion of a human arm and that of a four-degree manipulator, the human-robot motion mapping is developed. To deal with the problem of limitation in motion imitation, caused by robot lower-mobility, three method of humanoid control is comparatively analyzed. And the method to maximize the range of motion is selected to control the manipulator. The manipulator would execute the action, according to the received motion instruction, to realize the humanoid motion. The validity of this approach is proved by several experiments. The method proposed will help to make the manipulator control simple and easy, help to improve the ability of human-machine interaction, and help to expand the application of the manipulators.

Key words: humanoid motion, human-posture recognition, human-robot motion mapping, manipulator