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Social and Behavioral Sciences Commons™
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Articles 1 - 4 of 4
Full-Text Articles in Social and Behavioral Sciences
Hrp-2 Plays The Yoyo: From Human To Humanoid Yoyo Playing Using Optimal Control, Katja Mombaur, Manish Sreenivasa
Hrp-2 Plays The Yoyo: From Human To Humanoid Yoyo Playing Using Optimal Control, Katja Mombaur, Manish Sreenivasa
Faculty of Engineering and Information Sciences - Papers: Part B
Yoyo playing may seem easy for a human, but it is a challenging problem for a humanoid robot. This paper presents an approach to generate yoyo motions for the humanoid robot, HRP-2, based on motion recorded from human yoyo playing, dynamical models and numerical optimal control techniques. We recorded vertical yoyo playing of 4 subjects measuring yoyo height and rotation angle as well as the corresponding hand motions. A detailed multi-phase yoyo model with impact collisions and control patterns of human yoyo playing were identified from these measurements. Based on this knowledge, reliable yoyo motions within the feasibility ranges of …
Inverse Optimal Control As A Tool To Understand Human Yoyo Playing, Katja Mombaur, Manish Sreenivasa
Inverse Optimal Control As A Tool To Understand Human Yoyo Playing, Katja Mombaur, Manish Sreenivasa
Faculty of Engineering and Information Sciences - Papers: Part B
This paper presents an inverse optimal control approach to identify objective functions of human motion from motion capture measurements. We apply it to analyze human yoyo playing. Yoyo playing may seem easy to us to learn but it is a challenging problem from a mechanical point of view involving a hybrid dynamics model. We recorded vertical yoyo playing of humans measuring yoyo height and rotation angle as well as the corresponding hand motions. Results of inverse optimal control are presented showing a mixed criterion of cycle time and terms depending on yoyo and hand acceleration and velocity.
On Using Human Movement Invariants To Generate Target-Driven Anthropomorphic Locomotion, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond
On Using Human Movement Invariants To Generate Target-Driven Anthropomorphic Locomotion, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond
Faculty of Engineering and Information Sciences - Papers: Part B
We present a method for generating anthropomorphic motion by studying `invariants' in human movements and applying them as kinematic tasks. We recorded whole-body motion of 14 participants during a walking and grasping task and performed a detailed analysis in order to synthesize the stereotypy in human motion as rules. We propose an algorithm that produces the key parameters of motion taking into account the knowledge from human movement, and the limitations of the anthropomorph. We generalize our results such that we can create motion parameters for objects which were not in the original protocol. The algorithmic output is applied in …
On Real-Time Whole-Body Human To Humanoid Motion Transfer, Francisco-Javier Montecillo-Puente, Manish Sreenivasa, Jean-Paul Laumond
On Real-Time Whole-Body Human To Humanoid Motion Transfer, Francisco-Javier Montecillo-Puente, Manish Sreenivasa, Jean-Paul Laumond
Faculty of Engineering and Information Sciences - Papers: Part B
We present a framework for online imitation of human motion by the humanoid robot HRP-2. We introduce a representation of human motion, the humanoid-Normalized model, and a Center of Mass (CoM) anticipation model to prepare the robot in case the human lifts his/her foot. Our proposed motion representation codifies operational space and geometric information. Whole body robot motion is computed using a task-based prioritized inverse kinematics solver. By setting the human motion model as the target, and giving the maintenance of robot CoM a high priority, we can achieve a large range of motion imitation. We present two scenarios of …