Name
Abstract | ||
|---|---|---|
Exploring the full potential of humanoid robots requires their ability to learn, generalize and reproduce complex tasks that will be faced in dynamic environments. In recent years, significant attention has been devoted to recovering kinematic information from the human motion using a motion capture system. This paper demonstrates the use of a VICON system to capture human locomotion that is used to train a set of Dynamic Movement Primitives. These DMP can then be used to directly control a humanoid robot on the task space. The main objectives of this paper are: (1) to study the main characteristics of human natural locomotion and human "robot-like" locomotion; (2) to use the captured motion to train a DMP; (3) to use the DMP to directly control a humanoid robot in task space. Numerical simulations performed on V-REP demonstrate the effectiveness of the proposed solution. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1007/978-3-319-27149-1_15 | ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2 |
Keywords | Field | DocType |
Biped locomotion,Motion capture,Movement primitives,Nonlinear oscillators,Inter-limb coordination,Learning by demonstration | Human locomotion,Motion capture,Computer vision,Kinematics,Nonlinear oscillators,Computer science,Learning by demonstration,Human motion,Artificial intelligence,Imitation,Humanoid robot | Conference |
Volume | ISSN | Citations |
418 | 2194-5357 | 1 |
PageRank | References | Authors |
0.35 | 11 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| José Rosado | 1 | 9 | 2.03 |
| Filipe M. T. Silva | 2 | 65 | 14.07 |
| Vítor M. F. Santos | 3 | 95 | 21.33 |