Interactive Design of Expressive Locomotion Controllers for Humanoid Robots

Sébastien Dalibard (1) , Daniel Thalmann (2) , Nadia Magnenat-Thalmann (3)

1 Institute for Media Innovation
2 Institute for Media Innovation
3 MIRALab

This paper presents an interactive dynamic controller used to generate locomotion patterns for humanoid robots. The purpose of this work is to provide animators and artists easy and intuitive tools to design expressive motions for humanoid robots. A review of similar work in the computer animation community has guided our choices regarding the implementation and level of interaction between the user and an inverse dynamics solver. We have used our controller on a model of the Aldebaran humanoid robot Nao, and have generated a few expressive locomotion patterns that are presented in the experimental section of this paper.

Domaines: Robotique [cs.RO]

Sébastien Dalibard, Daniel Thalmann, Nadia Magnenat-Thalmann. Interactive Design of Expressive Locomotion Controllers for Humanoid Robots. 21st IEEE International Symposium on Robot and Human Interactive Communication, Sep 2012, Paris, France. pp. 431-436. ⟨hal-00730823⟩