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...

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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
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creator Do, M.
Azad, P.
Asfour, T.
Dillmann, R.
description 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.
doi_str_mv 10.1109/ICHR.2008.4756029
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Anthropomorphism
Communication system control
Educational robots
Hidden Markov models
Human robot interaction
Humanoid robots
Kinematics
Learning systems
Motion analysis
Motion control
title Imitation of human motion on a humanoid robot using non-linear optimization
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