Name
Title | ||
|---|---|---|
Human motion tracking control for humanoid robot based on the optimized motion retargeting |
Abstract | ||
|---|---|---|
The main objective of this study is to provide a motion retargeting method for mapping the human motion to the humanoid robot. This paper describes the procedure to generate human-like upper limbs motion of a humanoid robot while maintaining balance. The human motions are acquired by the inertial measurement units (IMU). The motion retargeting method is implemented with four steps: kinematics modelling, inverse kinematics computation, enforcing constraints and difference optimization. Our method integrates multiply existing mature technologies to build a human-robot interaction system to imitate the human motion on a robot. Finally, the method is verified on a humanoid robot Nao to generate a human-like motion. Experimental results demonstrate that the method achieves a good kinematic match. |
Year | Venue | Keywords |
|---|---|---|
2015 | 2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO) | Human Motion,Tracking Control,Humanoid Robot,Motion Retargeting |
Field | DocType | Volume |
Computer vision,Robot control,Inverse kinematics,Simulation,Robot kinematics,Retargeting,Control engineering,Human motion,Artificial intelligence,Engineering,Humanoid robot | Conference | 02 |
Citations | PageRank | References |
0 | 0.34 | 9 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| wenjie wang | 1 | 361 | 50.04 |
| Weiwei Yu | 2 | 0 | 0.34 |
| Xiansheng Qin | 3 | 1 | 3.67 |
| Hongbo Wang | 4 | 0 | 0.34 |
| Jie Hong | 5 | 2 | 0.76 |
| Yangyang Feng | 6 | 0 | 1.01 |