SOLVING AN INVERSE KINEMATICS PROBLEM FOR A HUMANOID ROBOT’S IMITATION OF HUMAN MOTIONS USING OPTIMIZATION

ChangHwan Kim, Doik Kim, Yonghwan Oh

Abstract

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motion of a human is discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references for the humanoid. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant based on a length ratio. Using the scaled geometry of the humanoid the imitation of actor’s arm motion is realized by solving an inverse kinematics problem that is formulated as an optimization problem. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waving and performing a statement in sign language are imitated by a humanoid in dynamics simulation.

References

  1. Dasgupta, A. and Nakamura, Y. (1999). Making feasible walking of humanoid robots from human motion capture data. In International Conference on Robotics and Automation, pages 1044-1049. Detroit, Michigan.
  2. Hodgins, J. K. and Pollard, N. S. (1997). Adapting simulated behaviors for new charaters. In SIGGRAPH97 Proceedings. Los Angeles, CA.
  3. Lenarcic, J. and Ravani, B. (1994). Advances In Robot Kinematics And Computational Geometry. Kluwer Academic Publishers, 101 Philip Drive, Norwell, MA 02061, U.S.A., 1st edition.
  4. Nakaoka, S., Nakazawa, A., Yokoi, K., Hirukawa, H., and Ikeuchi, K. (2003). Generating whole body motions for a biped humanoid robot from captured human dances. In International Conference on Robotics and Automation, pages 3905-3910. Tapei, Taiwan.
  5. Nakaoka, S., Nakazawa, A., Yokoi, K., and Ikeuchi, K. (2004). Leg motion primitives for a dancing humanoid robot. In International Conference on Robotics and Automation, pages 610-615. New Orieans, LA, U.S.A.
  6. Pollard, N. S., Hodgins, J. K., Riley, M. J., and Atkeson, C. G. (2002). Adapting human motion for the control of a humanoid robot. In International Conference on Robotics and Automation. Washington, DC, U.S.A.
  7. Zhao, X., Huang, Q., Peng, Z., and Li, K. (2004). Kinematics mapping and similarity evaluation of humanoid motion based on human motion capture. In International Conference on Intelligent RObots and Systems. Sendai, Japan.
Download


Paper Citation


in Harvard Style

Kim C., Kim D. and Oh Y. (2005). SOLVING AN INVERSE KINEMATICS PROBLEM FOR A HUMANOID ROBOT’S IMITATION OF HUMAN MOTIONS USING OPTIMIZATION . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 85-92. DOI: 10.5220/0001180100850092


in Bibtex Style

@conference{icinco05,
author={ChangHwan Kim and Doik Kim and Yonghwan Oh},
title={SOLVING AN INVERSE KINEMATICS PROBLEM FOR A HUMANOID ROBOT’S IMITATION OF HUMAN MOTIONS USING OPTIMIZATION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={85-92},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001180100850092},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - SOLVING AN INVERSE KINEMATICS PROBLEM FOR A HUMANOID ROBOT’S IMITATION OF HUMAN MOTIONS USING OPTIMIZATION
SN - 972-8865-30-9
AU - Kim C.
AU - Kim D.
AU - Oh Y.
PY - 2005
SP - 85
EP - 92
DO - 10.5220/0001180100850092