Paper Info
Title
Human-Like Arm Motion Generation For Humanoid Robots Using Motion Capture Database
Abstract
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.
Year
DOI
Venue
2006
10.1109/IROS.2006.282591
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12
Keywords
Field
DocType
humanoid robot,gesture recognition,response surface methodology,dynamic simulation,satisfiability,motion capture,human body,humanoid robots,real time,coordinate system
Motion capture,Computer vision,Robotic arm,Gesture,Simulation,Computer science,Motion generation,Gesture recognition,Artificial intelligence,Representation (mathematics),Arm solution,Humanoid robot
Conference
Citations 
PageRank 
References 
29
1.55
4
Authors
3
Name
Order
Citations
PageRank
Seungsu Kim11156.10
ChangHwan Kim216022.61
Jong Hyeon Park330028.58