Human to humanoid motion conversion for dual-arm manipulation tasks

Abstract : A conversion process for the imitation of human dual-arm motion by a humanoid robot is presented. The conversion process consists of an imitation algorithm and an algorithm for generating human-like motion of the humanoid. The desired motions in Cartesian and joint spaces, obtained from the imitation algorithm, are used to generate the human-like motion of the humanoid. The proposed conversion process improves existing techniques and is developed with the aim to enable imitating of human motion with a humanoid robot, to perform a task with and/or without contact between hands and equipment. A comparative analysis shows that our algorithm, which takes into account the situation of marker frames and the position of joint frames, ensures more precise imitation than previously proposed methods. The results of our conversion algorithm are tested on the robot ROMEO through a complex " open/close drawer " task.
Type de document :
Article dans une revue
Robotica, Cambridge University Press, In press, 〈10.1017/S0263574718000309〉
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01819258
Contributeur : Christine Chevallereau <>
Soumis le : mercredi 20 juin 2018 - 11:01:08
Dernière modification le : jeudi 5 juillet 2018 - 09:21:26
Document(s) archivé(s) le : mardi 25 septembre 2018 - 16:56:43

Fichier

Robotica_2018.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Christine Chevallereau, Marija Tomić, Kosta Jovanović, Veljko Potkonjak, Aleksandar Rodić. Human to humanoid motion conversion for dual-arm manipulation tasks. Robotica, Cambridge University Press, In press, 〈10.1017/S0263574718000309〉. 〈hal-01819258〉

Partager

Métriques

Consultations de la notice

48

Téléchargements de fichiers

60