NDLI: Generating whole body motions for a biped humanoid robot from captured human dances

Content Provider	IEEE Xplore Digital Library
Author	Nakaoka, S. Nakazawa, A. Yokoi, K. Hirukawa, H. Ikeuchi, K.
Copyright Year	2003
Description	Author affiliation: Inst. of Ind. Sci., Tokyo Univ., Japan (Nakaoka, S.; Nakazawa, A.)
Abstract	The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual biped humanoid robot. Human dance motions are acquired through a motion capturing system. We then extract symbolic representation which is made up of primitive motions: essential postures in arm motions and step primitives in leg motions. A joint angle sequence of the robot is generated according to these primitive motions. Then joint angles are modified to satisfy mechanical constraints of the robot. For balance control, the waist trajectory is moved to acquire dynamics consistency based on desired ZMP. The generated motion is tested on OpenHRP dynamics simulator. In our test, the Japanese folk dance, 'Jongara-bushi', was successfully performed by HRP-1S.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	3905
Ending Page	3910
File Size	415852
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242196
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Humans Legged locomotion Biological system modeling Leg Testing Intelligent robots Data mining Intelligent systems Service robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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