Enabling real-time full-body imitation: a natural way of transferring human movement to humanoids
- 22 March 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 2368-2374
- https://doi.org/10.1109/robot.2003.1241947
Abstract
We seek intuitive, efficient ways to create and direct human-like behaviors for humanoid robots. Here we present a method to enable humanoid robots to acquire movements by imitation. The robot uses 3D vision to perceive the movements of a human teacher, and then estimates the teacher's body postures using a fast full-body inverse kinematics method that incorporates a kinematic model of the teacher. This solution is then mapped to the robot and reproduced in real-time. The robustness of the method is tested on a 30-degree-of-freedom Sarcos humanoid robot located at ATR using 3D vision data from external cameras and from head-mounted cameras.Keywords
This publication has 8 references indexed in Scilit:
- Adapting human motion for the control of a humanoid robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Robust estimation of human body kinematics from videoPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Online tracking and mimicking of human movements by a humanoid robotAdvanced Robotics, 2003
- Inverse kinematics for humanoid robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Computer puppetryACM Transactions on Graphics, 2001
- Getting humanoids to move and imitateIEEE Intelligent Systems and their Applications, 2000
- Animating human athleticsPublished by Association for Computing Machinery (ACM) ,1995
- Inverse kinematics positioning using nonlinear programming for highly articulated figuresACM Transactions on Graphics, 1994