Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration

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In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in robot programming. An algorithm for transferring human motion to a robot and creating editable motions is presented to improve the reusability of the demonstrated motions. For generating various motions from a limited number of demonstrations, two motion models are presented and diverse motions are generated from the motion models. A humanoid robot, AMIO, is used to validate the proposed motion generation framework.
Publisher
INTECH -OPEN ACCESS PUBLISHER
Issue Date
2012-10
Language
English
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.9

ISSN
1729-8806
DOI
10.5772/52451
URI
http://hdl.handle.net/10203/103788
Appears in Collection
CS-Journal Papers(저널논문)
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