NDLI: Interactive task generation for humanoid based on human motion strategy

Content Provider	IEEE Xplore Digital Library
Author	Seong-Hoon Kim Imai, H. Sankai, Y.
Copyright Year	2004
Description	Author affiliation: Inst. of Eng. Mech. & Syst., Tsukuba Univ., Japan (Seong-Hoon Kim; Imai, H.; Sankai, Y.)
Abstract	The objective of this research is to propose an interactive method for "task" generating of humanoid robots to accomplish adaptable motions to environments. It is likely that task generation by using the interaction between strategies of human's motions and humanoid robots is effective because the structure of humanoid have a resemblance to that of human. To confirm the effectiveness of proposed method, first, we measured the human's motions such as walking and stair ascending with motion capturing system, and analyzed the patterns of joints angles and floor reaction force. Secondly, each measured motion is divided into meaningful components called "phases" which contained the trajectories for end-effector of humanoid's motions and composed a task. Thirdly, we constructed the task library with phases and tasks for the humanoid's motions. As a result, we found the task such as walking and stair ascending could be generated based on human motion strategy, and motion trajectory of these tasks could be changed by Bezier curve. A series of motions for humanoids was carried out by using task library which consisted of these tasks. These works were simulated by OpenHRP. In conclusion, it was verified that the humanoid's task could be generated according to different environments by the proposed method.
Starting Page	485
Ending Page	490
File Size	861405
Page Count	6
File Format	PDF
ISBN	0780385705
DOI	10.1109/ROMAN.2004.1374808
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-22
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Humanoid robots Force measurement Motion measurement Motion analysis Legged locomotion Libraries Anthropometry Pattern analysis Phase measurement
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
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