Name
Title | ||
|---|---|---|
Human-Like Behavior Generation Based on Head-Arms Model for Robot Tracking External Targets and Body Parts. |
Abstract | ||
|---|---|---|
Facing and pointing toward moving targets is a usual and natural behavior in daily life. Social robots should be able to display such coordinated behaviors in order to interact naturally with people. For instance, a robot should be able to point and look at specific objects. This is why, a scheme to generate coordinated head-arm motion for a humanoid robot with two degrees-of-freedom for the head and seven for each arm is proposed in this paper. Specifically, a virtual plane approach is employed to generate the analytical solution of the head motion. A quadratic program (QP)-based method is exploited to formulate the coordinated dual-arm motion. To obtain the optimal solution, a simplified recurrent neural network is used to solve the QP problem. The effectiveness of the proposed scheme is demonstrated using both computer simulation and physical experiments. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/TCYB.2014.2351416 | IEEE transactions on cybernetics |
Keywords | Field | DocType |
head-arm motion generation,humanoid robot,redundancy resolution,tracking targets and body parts,robot kinematics,humanoid robots,face,biomedical research,bioinformatics | Social robot,Computer vision,Head movements,Recurrent neural network,Robot kinematics,Artificial intelligence,Quadratic programming,Robot,Mathematics,Robotics,Humanoid robot | Journal |
Volume | Issue | ISSN |
PP | 99 | 2168-2275 |
Citations | PageRank | References |
13 | 0.64 | 21 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhijun Zhang | 1 | 13 | 0.64 |
| Aryel Beck | 2 | 13 | 0.64 |
| Nadia Magnenat-Thalmann | 3 | 5119 | 659.15 |