Abstract
Imitation of the upper body motions of human demonstrators or animation characters to human-shaped robots is studied in this paper. We present a pipeline for motion retargeting by transferring the joints of interest (JOI) of source motions to the target humanoid robot. To this end, we deploy an optimization-based motion retargeting method utilizing link length modifications of the source skeleton and a task (Cartesian) space fine-tuning of JOI motion descriptors. To evaluate the effectiveness of the proposed pipeline, we use two different 3-D motion datasets from three human demonstrators and an Ogre animation character, Bork, and successfully transfer the motions to four different humanoid robots: DARwIn-OP, COmpliant HuMANoid Platform (COMAN), THORMANG, and Atlas. Furthermore, COMAN and THORMANG are actually controlled to show that the proposed method can be deployed to physical robots.
| Original language | English |
|---|---|
| Title of host publication | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4373-4380 |
| Number of pages | 8 |
| ISBN (Electronic) | 9781728140049 |
| DOIs | |
| Publication status | Published - 2019 Nov |
| Externally published | Yes |
| Event | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 2019 Nov 3 → 2019 Nov 8 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Conference
| Conference | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 |
|---|---|
| Country/Territory | China |
| City | Macau |
| Period | 19/11/3 → 19/11/8 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications