Towards a Natural Motion Generator: A Pipeline to Control a Humanoid based on Motion Data

Sungjoon Choi, Joohyung Kim

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

Abstract

Imitation of the upper body motions of human demonstrators or animation characters to human-shaped robots is studied in this paper. We present a pipeline for motion retargeting by transferring the joints of interest (JOI) of source motions to the target humanoid robot. To this end, we deploy an optimization-based motion retargeting method utilizing link length modifications of the source skeleton and a task (Cartesian) space fine-tuning of JOI motion descriptors. To evaluate the effectiveness of the proposed pipeline, we use two different 3-D motion datasets from three human demonstrators and an Ogre animation character, Bork, and successfully transfer the motions to four different humanoid robots: DARwIn-OP, COmpliant HuMANoid Platform (COMAN), THORMANG, and Atlas. Furthermore, COMAN and THORMANG are actually controlled to show that the proposed method can be deployed to physical robots.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4373-4380
Number of pages8
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Externally publishedYes
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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