Real-time arm motion imitation for human-robot tangible interface
- Authors
- Choi, Yukyung; Ra, SyungKwon; Kim, Soowhan; Park, 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
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.