Choi, Yukyung Ra, SyungKwon Kim, Soowhan Park, Sung-Kee 2024-01-20T21:34:18Z 2024-01-20T21:34:18Z 2021-09-03 2009-04 1861-2776 https://pubs.kist.re.kr/handle/201004/132610 In this paper we deal with a remote meeting system with tangible interface, in which a robot is used as tangible avatar instead of a remote meeting partner. For realizing such system, it is a critical issue how the robot imitates human motions with natural and exact. So, we suggested a new method that human arm motion is captured with a stereo vision system and transferred to the robotic avatar with real-time. For capturing 3D arm motions based on markerless method, we proposed a new metaball-based method which was designed in order to have some robust and efficient properties: a modified iso-surface equation of metaball for overcoming local minima and a downsizing method of 3D point cloud for improving time complexity. With our meeting system, we have implemented our new algorithm and run at approximately 12-16 Hz. Also, its accuracy in motion capturing could be acceptable for robot motion generation. English SPRINGER HEIDELBERG Real-time arm motion imitation for human-robot tangible interface Article 10.1007/s11370-009-0037-8 1 INTELLIGENT SERVICE ROBOTICS, v.2, no.2, pp.61 - 69 INTELLIGENT SERVICE ROBOTICS 2 2 61 69 scie scopus 000510887300001 2-s2.0-64549110220 Robotics Robotics Article Tangible interface Markerless method Human motion capture Motion imitation Stereo vision