由運動追蹤系統所捕捉的人體運動資料通常具有許多雜訊，雖然能夠藉由修復與平滑化等方法儘可能將其消除，但是還是存在腳步滑動的動作不合理問題，因此本研究的議題之一即是針對人體的腳步滑動問題進行處理，藉由偵測腳步立足狀態並調整足部軌跡優化人體動作。
本研究的另一個議題是機器人的運動重定向，將人體運動資料處理後套用至機器人，使機器人能夠重現人體之動作。本研究所使用的運動為iBMPS動捕而來的動作，另外為了增加運動資料庫，藉由整合其他動捕系統的資料格式獲得其運動資料，並將骨架之模型轉換成人體結構化模型，使模型具有人體特徵。
運動重定向中，由於人體與機器人的關節自由度與幾何尺寸不相同，因此必須經過關節自由度匹配、關節角映射、運動尺度縮放、腳步軌跡調整、無自碰撞處理、關節物理限制等過程，使機器人得以順利做出運動，但是由於動態平衡暫無有效策略，因此未來期望本系統完成該部分並使真實機器人得以展示運動。

The human motion data captured by motion capture systems usually has many noises. Although the noises could be smoothed away as possible, there still exists the unreasonable phenomenon of foot skating. Therefore, one of purposes in this study is to process the problem of foot skating by detecting footplants and modifying the trajectories of both feet.
Another purpose of this study is motion retargeting, which is applying one character’s motion to another different character. In this study, we apply human motions to the humanoid robots. The motions retargeted are captured by iBMPS(intelligent body motion processing system). In addition, to extend the motion database, this study integrates the data formats of another mocap system and transforms its skeleton models to human structure models of iBMPS.
In motion retargeting, due to the differences of joint degree of freedom and geometrical structure, there are many issues need to conquer, such as joint DOF matching, motion mapping, scaling, foot skating cleanup, self-collision avoidance, joints limitation, etc. After those processes, the robots are able to reproduce human motion, However, the issue of motion balancing is still developing, we expect robots will be able to perform motions without auxiliaries in the future.

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