NDLI: Motion Design for Humanoids Based on Principal Component Analysis: Application to Human-Inspired Falling Motion Control

Content Provider	IEEE Xplore Digital Library
Author	Masuda, M. Ishikawa, J.
Copyright Year	2015
Description	Author affiliation: Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan (Masuda, M.; Ishikawa, J.)
Abstract	This paper proposes a motion design method for humanoids to imitate human-inspired motions by iteratively modifying joint reference trajectories based on the principal component analysis. The objective is to establish a practical method to realize dynamic human motions in humanoids without using complicated equations of motion. In the proposed method, captured motions of a human are firstly projected to a joint angle space of a humanoid by inverse kinematics. These joint angle trajectories are commanded to the servo motors as a function of orientation angles such a pitch angle of the humanoid, not as a function of time. Thus, the reference trajectories are commanded in a faster timing to synchronize the joint angles with the actual orientations, and this allows the humanoid to compensate the error due to the difference between the human and the humanoid in size. Furthermore, a method to iteratively modify the reference trajectories depending on resulting humanoid's motion is proposed. To extract the feature of motion, the principal component analysis is utilized. In the experiments, several motions of a human in fall were analyzed from a viewpoint of impact to the human body, and a forward-rolling motion was selected to be imitated to the humanoid. According to the proposed procedure, the forward-rolling motion was iteratively implemented to the humanoid. The experimental results showed that the humanoid achieved three quarters of the full rotation and that the proposed method could be utilized as a basis to introduce an iterative learning control to completely imitate the human-inspired forward-rolling motion.
Starting Page	393
Ending Page	400
File Size	1112043
Page Count	8
File Format	PDF
e-ISBN	9781479986972
DOI	10.1109/SMC.2015.80
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Acceleration Kinematics Principal component analysis Motion segmentation Dynamics
Content Type	Text
Resource Type	Article

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