Generating natural motion in an android by mapping human motion
Generating natural motion in an android by mapping human motion
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DOI：
10.1109/iros.2005.1545125
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
Daisuke Matsui;T. Minato;K. Macdorman;H. Ishiguro
中科院分区：
文献类型：
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作者：
Daisuke Matsui;T. Minato;K. Macdorman;H. Ishiguro
类人机器人的主要目标之一是开发能够与人自然互动的机器人。然而，要理解人类互动的本质，研究行为和外观的贡献至关重要。我们小组的研究通过开发在这两个方面都与人类非常相似的机器人来探索这些关系。如果类人的外表使我们从人类标准来评估机器人的行为，我们更有可能认识到与人类规范的偏差。因此，机器人的动作必须与人类的表现密切匹配，以避免看起来奇怪，包括呼吸中涉及的肩部运动等自主反应。本文提出了一种方法来实现看起来像人的动作，通过映射他们的三维外观从人类表演者到机器人，然后使用运动捕捉系统评估的逼真度的可见运动。这种方法相对于当前的研究具有几个优点，当前的研究集中于将人的运动关节角度复制到机器人：（1）在具有许多自由度和不同于人类的运动学的运动学的Android机器人中，难以计算哪些关节角度将使机器人的姿势看起来类似于人类表演者;（2）我们感知到的运动是在机器人的表面，而不一定是在它的关节，关节通常是隐藏的。
One of the main aims of humanoid robotics is to develop robots that are capable of interacting naturally with people. However, to understand the essence of human interaction, it is crucial to investigate the contribution of behavior and appearance. Our group's research explores these relationships by developing androids that closely resemble human beings in both aspects. If humanlike appearance causes us to evaluate an android's behavior from a human standard, we are more likely to be cognizant of deviations from human norms. Therefore, the android's motions must closely match human performance to avoid looking strange, including such autonomic responses as the shoulder movements involved in breathing. This paper proposes a method to implement motions that look human by mapping their three-dimensional appearance from a human performer to the android and then evaluating the verisimilitude of the visible motions using a motion capture system. This approach has several advantages over current research, which has focused on copying a person's moving joint angles to a robot: (1) in an android robot with many degrees of freedom and kinematics that differs from that of a human being, it is difficult to calculate which joint angles would make the robot's posture appear similar to the human performer; and (2) the motion that we perceive is at the robot's surface, not necessarily at its joints, which are often hidden from view.