On-line Human Motion Transition and Control for Humanoid Upper Body Manipulation
- On-line Human Motion Transition and Control for Humanoid Upper Body Manipulation
- 신성열; 김창환
- Issue Date
- The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- , 477-482
- This paper represents the method to manipulate
the objects with the upper body of a humanoid robot by
capturing human motions in real-time. To control the upper
body of a humanoid robot and make it behave as a human does,
we define several virtual spring-damper elements between the
humanoid robot and the human. The resultant motions given by
the virtual forces of the elements lead the humanoid robot to
move as the human acts. We employ the forward dynamics
formulation to represent the dynamics model of humanoid
upper body as an articulated body system with those virtual
spring-damper elements for obtaining the resultant motions.
Due to considering the whole dynamics of upper body, it is easy
to resolve the ill-posedness or singularity of inverse kinematics
problem and to involve external forces. The present method
may be of use in teaching a humanoid robot working skills
or detailed motions of a human. For validating the proposed
method, we transited human motions to a humanoid robot using
a motion capture system and controlled the robot to grasp an
object passed by a person simultaneously.
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- KIST Publication > Conference Paper
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