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Full-Text Articles in Social and Behavioral Sciences
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Faculty of Engineering and Information Sciences - Papers: Part B
This paper deals with the problem of generating realistic human-like reaching movements from a small set of movement primitives. Two kinds of movement databases are used as reference. The first one is obtained numerically, by applying biological principles of motor control on the dynamic model of the robot arm. The second one is obtained by recording reaching movements of human subjects. From these databases, primitives are extracted and analyzed by using Principal Component Analysis. An original generalization method is then proposed for generating movements that did not belong to the initial database. We show that twenty primitives allow to produce …
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 …
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 …