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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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)

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.