Generation of Human-like Motion for Humanoid Robots Based on Marker-based Motion Capture Data
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 8Language: englishTyp: PDF
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Authors:
Gärtner, Stefan; Do, Martin; Asfour, Tamim; Dillmann, Rüdiger (Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics, Humanoids and Intelligence Laboratory, Karlsruhe, Germany)
Simonidis, Christian; Seemann, Wolfgang (Karlsruhe Institute of Technology (KIT), Institute of Engineering Mechanics, Karlsruhe, Germany)
Abstract:
To increase acceptance for humanoids in everyday situations, it is essential that motions of humanoid robots become more human-like. A proper approach to achieve this requirement is introduced by adopting marker-based human motion capture. In order to efficiently re-use or analyze captured movements on various robots, an intermediate model, named Master Motor Map (MMM), is proposed which decouples representation of motion from its execution on a real robot. Moreover, we present a constrained nonlinear optimization to adapt pre-captured motions to our robot Armar-III preserving necessary motion characteristics and preventing the robot from approaching specific limitations.