Real-time arm motion imitation for human-robot tangible interface

Authors
Choi, YukyungRa, SyungKwonKim, SoowhanPark, Sung-Kee
Issue Date
2009-04
Publisher
SPRINGER HEIDELBERG
Citation
INTELLIGENT SERVICE ROBOTICS, v.2, no.2, pp.61 - 69
Abstract
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.
Keywords
Tangible interface; Markerless method; Human motion capture; Motion imitation; Stereo vision
ISSN
1861-2776
URI
https://pubs.kist.re.kr/handle/201004/132610
DOI
10.1007/s11370-009-0037-8
Appears in Collections:
KIST Article > 2009
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