Abstract : In this paper, we present an optimization-based retargeting method for precise reproduction of captured human motions by a humanoid robot. We take into account two important aspects of retargeting simultaneously: spatial relationship and robot dynamics model. The former takes care of the spatial relationship between the body parts based on "interaction mesh" to follow the human motion in a natural manner, whereas the latter adapts the resulting motion in such a way that the dynamic constraints such as torque limit or dynamic balance are being satisfied. We have integrated the interaction mesh and the dynamic constraints in a unified optimization framework, which is advantageous for generation of natural motions by a humanoid robot compared to previous work that performs those processes separately. We have validated the basic effectiveness of the proposed method with a sequence of postures converted from captured human data to a humanoid robot.
Type de document :
Communication dans un congrès
The 44th Symposium on Robotics, Oct 2013, Seoul, South Korea
https://hal.archives-ouvertes.fr/hal-00908568
Contributeur : Thomas Moulard
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Soumis le : lundi 25 novembre 2013 - 08:48:02
Dernière modification le : jeudi 11 janvier 2018 - 06:21:02
Document(s) archivé(s) le : mercredi 26 février 2014 - 04:23:53
Thomas Moulard, Eiichi Yoshida, Shin'Ichiro Nakaoka. Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints. The 44th Symposium on Robotics, Oct 2013, Seoul, South Korea. 〈hal-00908568〉
