NDLI: Study on motion design for service robot based on standard human motion

Content Provider	IEEE Xplore Digital Library
Author	Yokota, S. Hashimoto, H. Chugo, D. Kawabata, K.
Copyright Year	2012
Description	Author affiliation: Master Prog. of Innovation for Design and Eng., Advanced Institute of Industrial Technology, Shinagawa, Tokyo, Japan (Hashimoto, H.) \|\| RIKEN-XJTU Joint Research Team, RIKEN(The Institute of Physical and Chemical Research), Wako, Saitama, Japan (Kawabata, K.) \|\| Faculty of Science and Engineering, Setsunan Uniersity, Neyagawa, Osaka, Japan (Yokota, S.) \|\| School of Science and Engineering, Kwansei Gakuin University, Sanda, Hyogo, Japan (Chugo, D.)
Abstract	This paper found out the standard human motion which is exemplar motion for letting robot's motion approximate to human motion, and evaluated the human impression to the robot motion. The problems in case of finding out the standard human motion is how to specify one motion from different motions caused by individual physical characteristics and peculiarities. We have solved above problem by following method. First, the fundamental component was extracted from individual time series motion data by using Desecrate Fourier Transform, in order to remove walking cycle and noises and to easily map a motion to the phase plane. Next, the extracted individual fundamental components were plotted on the phase plane. Afterwards, individual patterns on the phase plane were fitted to the one ellipse by using least-squares method. And we regarded this ellipse as the standard human motion. This ellipse trajectory integrates motions even if different motion in time domain, and can absorb different motion cycle and amplitude caused by individual physical characteristics and peculiarities. Last, this ellipse trajectory was expressed as the time series functions by inverse mapping from phase to time domain, and they were implemented to the robot to replay the standard human motion in the simulation. Finally, in order to discuss the human impression from replayed standard human motion, the evaluation experiment using Semantic Differential (SD) Method was conducted. From the experimental results, the proposed motion design can let the robot motion approximate to the human motion, because the standard human motion is the fundamental motion among individuals and gives positive impression to users.
Starting Page	4187
Ending Page	4192
File Size	1725981
Page Count	6
File Format	PDF
ISBN	9781467324199
ISSN	1553572X
e-ISBN	9781467324212
e-ISBN	9781467324205
DOI	10.1109/IECON.2012.6389218
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-25
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Educational institutions Robots Standards
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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