Name
Abstract | ||
|---|---|---|
Transferring skills from humans to robots is an appealing way for teaching artificial systems to perform a variety of different tasks. In this context, imitation learning appears as an important approach for teaching robots due to the generation of human-like movements and the ease of teaching new tasks. This paper addresses the use of a Kinect-based human motion capture system and the reproduction of arm movements in an upper-body humanoid robot. The objectives are threefold: (1) to deal with the lack of a kinematics model that assure coherence in the recorded 3D human poses; (2) to explore the inclusion of a shoulder complex based on a parallel mechanism; and (3) to demonstrate and evaluate how two robot models can be used to reproduce the human demonstrations. Several experimental results are included showing the upper-limb reproduction of human arm movements. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ROBIO.2013.6739574 | 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) |
Keywords | Field | DocType |
humanoid robots,pose estimation,image sensors | Motion capture,Computer vision,Robot control,Kinematics,Robot kinematics,Pose,Artificial intelligence,Engineering,Robot,Arm solution,Humanoid robot | Conference |
Citations | PageRank | References |
1 | 0.36 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jos é Rosado | 1 | 9 | 2.03 |
| Filipe M. T. Silva | 2 | 65 | 14.07 |
| Vítor M. F. Santos | 3 | 95 | 21.33 |
| Zhenli Lu | 4 | 27 | 5.09 |