Whole-body motion input method for bipedal humanoid robot with support leg detection
Whole-body motion input method for bipedal humanoid robot with support leg detection
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DOI：
10.1109/humanoids.2012.6651620
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
Kenta Yonekura;Shin'ichiro Nakaoka;K. Yokoi
中科院分区：
文献类型：
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作者：
Kenta Yonekura;Shin'ichiro Nakaoka;K. Yokoi
我们开发了一个关键的姿态输入系统，使用KinectTM传感器的舞蹈，一个集成的软件，有助于生成人形机器人运动很容易。该系统捕获真实的人体姿态，并计算类人机器人的关节角度，以生成其关键姿态。该方法能够自动检测支撑腿，并计算出一组关节角度的仿人机器人，满足支撑条件。
We developed a key pose input system using a KinectTM sensor for Choreonoid, an integrated software that helps to generate humanoid robot motion easily. The system captures a real human pose and calculates the joint angles of a humanoid robot to generate its key pose. The proposed method is able to detect the support leg automatically and calculate a set of joint angles for the humanoid robot which satisfies the support condition.