Task model of lower body motion for a biped humanoid robot to imitate human dances
Task model of lower body motion for a biped humanoid robot to imitate human dances
复制标题
双足人形机器人模仿人类舞蹈的下半身运动任务模型
DOI：
10.1109/iros.2005.1545395
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
K. Ikeuchi
中科院分区：
文献类型：
--
作者：
Shin'ichiro Nakaoka;A. Nakazawa;F. Kanehiro;K. Kaneko;M. Morisawa;K. Ikeuchi
这项研究的目标是开发一种两足类人机器人，可以观察并模仿人类的舞蹈表演。为了实现这一目标，我们提出了一个下半身运动的任务模型，该模型由任务原语(做什么)和技能参数(如何做)组成。基于该模型，从人类运动中检测出一系列任务基元及其技能参数，并根据检测结果在机器人的约束下重新生成机器人的运动。该模型可以产生类似人类的下半身运动，包括各种腰部运动以及腿部的各种步态运动。所产生的运动可以在由自己的腿支撑的实际机器人上稳定地执行。我们使用了改进的机器人硬件HRP-2，它在体重、执行器和腰部自由度方面都具有优越的特性。利用所提出的方法和HRP-2，我们实现了机器人对日本民族舞蹈的表演，并与人类大师的同台表演同步。
The goal of this study is developing a biped humanoid robot that can observe a human dance performance and imitate it. To achieve this goal, we propose a task model of lower body motion, which consists of task primitives (what to do) and skill parameters (how to do it). Based on this model, a sequence of task primitives and their skill parameters are detected from human motion, and robot motion is regenerated from the detected result under constraints of a robot. This model can generate human-like lower body motion including various waist motions as well as various stepping motions of the legs. Generated motions can be performed stably on an actual robot supported by its own legs. We used improved robot hardware HRP-2, which has superior features in body weight, actuators, and DOF of the waist. By using the proposed method and HRP-2, we have realized a dance performance of Japanese folk dance by the robot, which is synchronized with a performance of a human grand master on the same stage.
DOI：
10.1109/iros.2003.1249691
发表时间：
2003-12
期刊：
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
影响因子：
--
作者：
K. Kosuge;Tomohiro Hayashi;Y. Hirata;Ryosuke Tobiyama
通讯作者：
K. Kosuge;Tomohiro Hayashi;Y. Hirata;Ryosuke Tobiyama
迈向运行人形机器人
DOI：
--
发表时间：
2004
期刊：
Proceedings of the 2004 IEEE International Conference on Robotics ＆ Automation
影响因子：
--
作者：
S.Kajita;T.Nagasaki;K.Kaneko;et al.
通讯作者：
et al.