Human-like arm motion generation for humanoid robots using motion capture database

被引:64
|
作者
Kim, Seungsu [1 ,2 ]
Kim, ChangHwan [2 ]
Park, Jong Hyeon [1 ]
机构
[1] Hanyang Univ, Sch Mech Engn, Seoul 133791, South Korea
[2] Korea Inst Sci & Technol, Intelligent Robot Res Ctr, Seoul 130650, South Korea
关键词
D O I
10.1109/IROS.2006.282591
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
During the communication and interaction with a human using motions or gestures, a humanoid robot needs to not only look like a human but also behavior like a human to avoid confusions in the communication and interaction. Among human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle that is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of hand. An example motion was performed using the KIST humanoid robot, MAHRU.
引用
收藏
页码:3486 / +
页数:2
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