TY - GEN
T1 - Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space
AU - Choi, Sungjoon
AU - Pan, Matt
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2020, MIT Press Journals. All rights reserved.
PY - 2020
Y1 - 2020
N2 - In this work, we present a semi-supervised learning method to transfer human motion data to humanoid robots with its emphasis on the feasibility of transferred robot motions. To this end, we propose a data-driven motion retargeting method named locally weighted latent learning (LWL2 ) which possesses the benefits of both nonparametric regression and deep latent variable modeling. The method can leverage both paired and domain-specific datasets and can maintain robot motion feasibility owing to the nonparametric regression and graph-based heuristics it uses. The proposed method is evaluated using two different humanoid robots, the Robotis ThorMang and COMAN, in simulation environments with diverse motion capture datasets. Furthermore, the online puppeteering of a real humanoid robot is implemented.
AB - In this work, we present a semi-supervised learning method to transfer human motion data to humanoid robots with its emphasis on the feasibility of transferred robot motions. To this end, we propose a data-driven motion retargeting method named locally weighted latent learning (LWL2 ) which possesses the benefits of both nonparametric regression and deep latent variable modeling. The method can leverage both paired and domain-specific datasets and can maintain robot motion feasibility owing to the nonparametric regression and graph-based heuristics it uses. The proposed method is evaluated using two different humanoid robots, the Robotis ThorMang and COMAN, in simulation environments with diverse motion capture datasets. Furthermore, the online puppeteering of a real humanoid robot is implemented.
UR - http://www.scopus.com/inward/record.url?scp=85126080300&partnerID=8YFLogxK
U2 - 10.15607/RSS.2020.XVI.071
DO - 10.15607/RSS.2020.XVI.071
M3 - Conference contribution
AN - SCOPUS:85126080300
SN - 9780992374761
T3 - Robotics: Science and Systems
BT - Robotics
A2 - Toussaint, Marc
A2 - Bicchi, Antonio
A2 - Hermans, Tucker
PB - MIT Press Journals
T2 - 16th Robotics: Science and Systems, RSS 2020
Y2 - 12 July 2020 through 16 July 2020
ER -