NDLI: Visually Guided Whole Body Interaction

Content Provider	IEEE Xplore Digital Library
Author	Bolder, B. Dunn, M. Gienger, M. Janssen, H. Sugiura, H. Goerick, C.
Copyright Year	2007
Description	Author affiliation: Honda Res. Inst. Eur., Offenbach Am Main (Bolder, B.; Dunn, M.; Gienger, M.; Janssen, H.; Sugiura, H.; Goerick, C.)
Abstract	We describe a system for visual interaction developed for humanoid robots. It enables the robot to interact with its environment using a smooth whole body motion control driven by stabilized visual targets. Targets are defined as visually extracted "proto-objects" and behavior-relevant object hypotheses and are stabilized by means of a short-term sensory memory. Selection mechanisms are used to switch between behavior alternatives for searching or tracking objects as well as different whole body motion strategies for reaching. The decision between different motion strategies like reaching with right or left hand or with and without walking is made based on internal predictions that use copies of the whole-body control algorithm. The results show robust object tracking and a smooth interaction behavior that includes a large variety of whole-body postures.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3054
Ending Page	3061
File Size	896805
Page Count	8
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363936
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Robot kinematics Motion control Switches Decision making Psychology Layout Time measurement Robotics and automation Europe
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
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