NDLI: Intuitive and flexible user interface for creating whole body motions of biped humanoid robots

Content Provider	IEEE Xplore Digital Library
Author	Nakaoka, S. Kajita, S. Yokoi, K.
Copyright Year	2010
Description	Author affiliation: Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki, Japan (Nakaoka, S.; Kajita, S.; Yokoi, K.)
Abstract	This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a key pose is created, modified or removed, the system immediately processes automatic trajectory adjustment of the feet and the waist so that the key poses and the interpolated motion can always meet the conditions. This enables a user to edit variety of motions in an intuitive and flexible way without paying attention to the conditions. We implemented the interface and confirmed that characteristic whole body motions of a realistic humanoid robot HRP-4C were easily created with it and the actual HRP-4C successfully performed them.
Starting Page	1675
Ending Page	1682
File Size	1117635
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Foot Trajectory Interpolation Humanoid robots Dynamics Joints
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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