Adapting Human Motion for the Control of a Humanoid Robot

Nancy Pollard, Jessica K Hodgins, M.J. Riley, and Chris Atkeson
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002.


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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",
}