On using human movement invariants to generate target-driven anthropomorphic locomotion

We present a method for generating anthropomorphic motion by studying `invariants' in human movements and applying them as kinematic tasks. We recorded whole-body motion of 14 participants during a walking and grasping task and performed a detailed analysis in order to synthesize the stereotypy...

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Bibliographic Details
Main Authors: Sreenivasa, M N, Soueres, P, Laumond, J
Format: Conference Proceeding
Language:English
Subjects:
Foot
Grasping
Humans
Kinematics
Legged locomotion
Pelvis
Online Access:Request full text
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Summary:We present a method for generating anthropomorphic motion by studying `invariants' in human movements and applying them as kinematic tasks. We recorded whole-body motion of 14 participants during a walking and grasping task and performed a detailed analysis in order to synthesize the stereotypy in human motion as rules. We propose an algorithm that produces the key parameters of motion taking into account the knowledge from human movement, and the limitations of the anthropomorph. We generalize our results such that we can create motion parameters for objects which were not in the original protocol. The algorithmic output is applied in a task based prioritized inverse kinematics solver to generate dynamically stable and realistic anthropomorphic motion. We illustrate our results on the humanoid HRP-2 by making it walk to and grasp objects at various positions.
ISSN:2155-1774
2155-1782
DOI:10.1109/BIOROB.2010.5626928