NDLI: Inverse Kinematics Based Human Mimicking System using Skeletal Tracking Technology

Content Provider	Springer Nature Link
Author	Alibeigi, Mina Rabiee, Sadegh Ahmadabadi, Majid Nili
Copyright Year	2016
Abstract	Humanoid robots needs to have human-like motions and appearance in order to be well-accepted by humans. Mimicking is a fast and user-friendly way to teach them human-like motions. However, direct assignment of observed human motions to robot’s joints is not possible due to their physical differences. This paper presents a real-time inverse kinematics based human mimicking system to map human upper limbs motions to robot’s joints safely and smoothly. It considers both main definitions of motion similarity, between end-effector motions and between angular configurations. Microsoft Kinect sensor is used for natural perceiving of human motions. Additional constraints are proposed and solved in the projected null space of the Jacobian matrix. They consider not only the workspace and the valid motion ranges of the robot’s joints to avoid self-collisions, but also the similarity between the end-effector motions and the angular configurations to bring highly human-like motions to the robot. Performance of the proposed human mimicking system is quantitatively and qualitatively assessed and compared with the state-of-the-art methods in a human-robot interaction task using Nao humanoid robot. The results confirm applicability and ability of the proposed human mimicking system to properly mimic various human motions.
Starting Page	27
Ending Page	45
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	85
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-07-21
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Imitation learning Mimicry Human-robot interaction Humanoid robot Nao humanoid robot Microsoft kinect sensor Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical 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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