Interactive generation of dynamically feasible robot trajectories from sketches using temporal mimicking

Jingru Luo, Kris Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a method for generating dynamically-feasible, natural-looking robot motion from freehand sketches. Using trajectory optimization, it handles sketches that are too fast, jerky, or pass out of reach by enforcing the constraints of the robot's dynamic limitations while minimizing the relative temporal differences between the robot's trajectory and the sketch. To make the optimization fast enough for interactive use, a variety of enhancements are employed including decoupling the geometric and temporal optimizations and methods to select good initial trajectories. The technique is also applicable to transferring human motions onto robots with non-human appearance and dynamics, and we use our method to demonstrate a simulated humanoid imitating a golf swing as well as an industrial robot performing the motion of writing a cursive "hello" word.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3665-3670
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Luo, J., & Hauser, K. (2012). Interactive generation of dynamically feasible robot trajectories from sketches using temporal mimicking. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3665-3670). [6225341] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225341