DocumentCode :
3190120
Title :
Full-body imitation of human motions with kinect and heterogeneous kinematic structure of humanoid robot
Author :
Van Vuong Nguyen ; Joo-Ho Lee
Author_Institution :
Coll. of Inf. Sci. & Eng., Ritsumeikan Univ., Kusatsu, Japan
fYear :
2012
fDate :
16-18 Dec. 2012
Firstpage :
93
Lastpage :
98
Abstract :
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static stability generated from the human motion obtained by visual motion capture of the humanoid. The experimental results based on Webots simulation and subsequent execution by a Darwin-OP humanoid robot show the validity of the proposed system in this paper.
Keywords :
humanoid robots; robot kinematics; robot vision; stability; Darwin-OP humanoid robot; Kinect; Webots simulation; full-body imitation; heterogeneous kinematic structure; human motions; humanoid body pose; static stability; visual motion; Humanoid robots; Humans; Joints; Robot kinematics; Shoulder; Solid modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Integration (SII), 2012 IEEE/SICE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4673-1496-1
Type :
conf
DOI :
10.1109/SII.2012.6427340
Filename :
6427340
Link To Document :
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