2014 IEEE International Conference on Robotics and Automation (ICRA) 2014
DOI: 10.1109/icra.2014.6907261
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Real-time imitation of human whole-body motions by humanoids

Abstract: Abstract-In this paper, we present a system that enables humanoid robots to imitate complex whole-body motions of humans in real time. In our approach, we use a compact human model and consider the positions of the endeffectors as well as the center of mass as the most important aspects to imitate. Our system actively balances the center of mass over the support polygon to avoid falls of the robot, which would occur when using direct imitation. For every point in time, our approach generates a statically stabl… Show more

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Cited by 145 publications
(83 citation statements)
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“…However, our algorithm is compatible with real-time tracking, as long as there is a mechanism for contact event detection. One caveat is that (as mentioned in [15]), contact and CoM stabilization add delay to the tracking, so movements with contact changes occurring in rapid succession may be difficult to track. However, we can compensate for the delay by "buffering" the human demonstration trajectory.…”
Section: B Dealing With Contact Change Eventsmentioning
confidence: 99%
See 2 more Smart Citations
“…However, our algorithm is compatible with real-time tracking, as long as there is a mechanism for contact event detection. One caveat is that (as mentioned in [15]), contact and CoM stabilization add delay to the tracking, so movements with contact changes occurring in rapid succession may be difficult to track. However, we can compensate for the delay by "buffering" the human demonstration trajectory.…”
Section: B Dealing With Contact Change Eventsmentioning
confidence: 99%
“…We formulate a generalization of the method proposed in Koenemann et al [15], where the robot tracks a normalized offset (denoted as φ) between its support surfaces. We define a support point p i as the center of a support surface that is in contact with the fixed environment.…”
Section: Center Of Mass Trackingmentioning
confidence: 99%
See 1 more Smart Citation
“…The NAO and the Kinect are also used in [5] to record movement and reproduce it in order to support exercise therapy. Another tele-operation project is [6] which uses a full body motion tracking suit and the NAO for teleoperation tasks. In [7] it is introduced an approach which uses a full body motion tracking suit for tele-operation while using machine learning to train neural networks to map sensor data to joint space.…”
Section: Introductionmentioning
confidence: 99%
“…However none can provide the necessary feedback that triggers the human operator's awareness of complete whole-body synchronization. Common policies explore the use of Motion Capture Systems (MoCap) in order to track body posture and control the robotic platform [3], [4]. Other strategies focus on transmitting simple high-level commands that are translated into end-effector (hands, feet or limbs) coordinates [5].…”
Section: Introductionmentioning
confidence: 99%