The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Using pre-recorded human motion and trajectory tracking, we can control the motion of a humanoid robot for free-space, upper body gestures. However, the number of degrees of freedom, range of joint motion, and achievable joint velocities of today's humanoid robots are far more limited than those of the average human subject. In this paper, we explore a set of techniques for limiting human motion of upper body gestures to that achievable by a Sarcos humanoid robot located at ATR. We assess the quality of the results by comparing the motion of the human actor to that of the robot, both visually and quantitatively.

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Number of pages: 8

Text Reference

Nancy Pollard, Jessica K Hodgins, M.J. Riley, and Chris Atkeson, "Adapting Human Motion for the Control of a Humanoid Robot," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002.

BibTeX Reference

@inproceedings{Pollard_2002_4363,
   author = "Nancy Pollard and Jessica K Hodgins and M.J. Riley and Chris Atkeson",
   title = "Adapting Human Motion for the Control of a Humanoid Robot",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02)",
   month = "May",
   year = "2002",
}

The Robotics Institute

Menu