Imitation of human motion on a humanoid robot using non-linear optimization

In this paper, we present a system for the imitation of human motion on a humanoid robot, which is capable of incorporating both vision-based markerless and marker-based human motion capture techniques. Based on the so-called Master Motor Map, an interface for transferring motor knowledge between em...

Full description

Saved in:
Bibliographic Details
Main Authors: Do, M., Azad, P., Asfour, T., Dillmann, R.
Format: Conference Proceeding
Language:eng ; jpn
Subjects:
Anthropomorphism
Communication system control
Educational robots
Hidden Markov models
Human robot interaction
Humanoid robots
Kinematics
Learning systems
Motion analysis
Motion control
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, we present a system for the imitation of human motion on a humanoid robot, which is capable of incorporating both vision-based markerless and marker-based human motion capture techniques. Based on the so-called Master Motor Map, an interface for transferring motor knowledge between embodiments with different kinematics structure, the system is able to map human movement to a human-like movement on the humanoid while preserving the goal-directed characteristics of the movement. To attain an exact and goal-directed imitation of an observed movement, we introduce a reproduction module using non-linear optimization to maximize the similarity between the demonstrated human movement and the imitation by the robot. Experimental result using markerless and marker-based human motion capture data are given.
ISSN:2164-0572
DOI:10.1109/ICHR.2008.4756029