Analytical Solution of Pepper’s Inverse Kinematics for a Pose Matching Imitation System

Stoeva, Darja; Frijns, Helena Anna; Gelautz, Margrit; Schürer, Oliver

doi:10.1109/ro-man50785.2021.9515480

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…However, since the decision variables can only take values within a specific range, equation (6) may not be satisfied in some cases, even though the reference keypoints used as control inputs have been scaled. Thus, we introduce a slack variable w 1 2 R m to reduce the stringency of the constraint (10), that is,…”

Section: Reformulation Of Constraintsmentioning

confidence: 99%

“…Reformulation of equality constraints. Directly replacing equation (10) with the velocity-level kinematic equation (6) appears to be feasible. However, since the decision variables can only take values within a specific range, equation (6) may not be satisfied in some cases, even though the reference keypoints used as control inputs have been scaled.…”

Section: Reformulation Of Constraintsmentioning

confidence: 99%

“…To mimic upper limb movements in real time, Savevska et al 9 simplified the Talos robot’s arm to four DoF and used a simple IK algorithm to solve for joint angles. In Cheng et al, 10 an analytical IK-based motion imitation system was developed for the Pepper robot. Liu et al 11 designed a position-level motion imitation and augmentation system for a 6-DoF dual-arm robot.…”

Section: Related Workmentioning

confidence: 99%

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Robust real-time upper limb motion transfer from human to humanoid for manipulation skill teaching

Han

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a framework for real-time high-fidelity upper limb motion transfer from a human to a humanoid robot, intending to provide robust support for robots to learn manipulation skills. Robot imitation of human motion is modeled as a simultaneous wrist and elbow tracking problem, where the coordination between multiple imitation objectives and physical constraints receives special attention. First, for the vision-based motion capture system, an efficient preprocessing method is introduced to map the raw human skeletal points analogously or reflectively to the robot’s workspace. Then, the generation of velocity-level imitation motion commands is formalized as a constrained hierarchical quadratic programing (HQP) problem, in which multiple objectives for achieving imitation are organized into a hierarchy. The wrist tracking task is set as the highest priority, followed by the adjustment of the elbow and the minimization of the joint velocity. Physical limits of the robot joints, as well as strict kinematic constraints regarding self-motion, are considered as constraints for the optimization problem. Finally, a hierarchical recurrent neural network (RNN) is designed to solve this HQP problem through its unique neural dynamics. The performance of this network is theoretically guaranteed with high computational efficiency. Quantitative results show that the proposed motion imitation control scheme offers excellent integrated tracking accuracy of [Formula: see text] m and is robust to different arm length ratios. Using this method, the humanoid robot can imitate the upper body motions of a human as accurately as possible under physical constraints, without significant delays.

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Section: Reformulation Of Constraintsmentioning

confidence: 99%

Section: Reformulation Of Constraintsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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Robust real-time upper limb motion transfer from human to humanoid for manipulation skill teaching

Han

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Programming Robot Animation Through Human Body Movement

Frijns,

Stoeva,

Schürer

et al. 2024

2024 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)

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Body Movement Mirroring and Synchrony in Human–Robot Interaction

Stoeva,

Kriegler,

Gelautz

2024

J. Hum.-Robot Interact.

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This review paper provides an overview of papers that have studied body movement mirroring and synchrony within the field of human-robot interaction. The papers included in this review cover system studies, which focus on evaluating the technical aspects of mirroring and synchrony robotic systems, and user studies, which focus on measuring particular interaction outcomes or attitudes towards robots expressing mirroring and synchrony behaviors. We review the papers in terms of the employed robotic platforms and the focus on parts of the body, the techniques used to sense and react to human motion, the evaluation methods, the intended applications of the human-robot interaction systems and the scenarios utilized in user studies. Finally, challenges and possible future directions are considered and discussed.

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Analytical Solution of Pepper’s Inverse Kinematics for a Pose Matching Imitation System

Cited by 3 publications

References 13 publications

Robust real-time upper limb motion transfer from human to humanoid for manipulation skill teaching

Robust real-time upper limb motion transfer from human to humanoid for manipulation skill teaching

Programming Robot Animation Through Human Body Movement

Body Movement Mirroring and Synchrony in Human–Robot Interaction

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