The Measure of Motion Similarity for Robotics Application

The measure of motion similarity is defined. The measure is explained on the example of two different movement sequences, namely the step forward and backward and the reaction to the side push. The entered measure takes into account the displacements of body points. In this study, the relationship between the displacement of individual point masses of the body and the displacement of the resultant mass was investigated. It has been shown that the introduced measure of the similarity of movement allows to study the coordination of movements of human or humanoid robot body parts, which is useful for the synthesis of humanoid movement.