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ICRA
2002
IEEE

Adapting Human Motion for the Control of a Humanoid Robot

9 years 6 months ago
Adapting Human Motion for the Control of a Humanoid Robot
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.
Nancy S. Pollard, Jessica K. Hodgins, Marcia Riley
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Nancy S. Pollard, Jessica K. Hodgins, Marcia Riley, Christopher G. Atkeson
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