Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints

Thomas Moulard
  • Fonction : Auteur
  • PersonId : 903982
Eiichi Yoshida
  • Fonction : Auteur
  • PersonId : 841545

Résumé

In this paper, we present an optimization-based retargeting method for precise reproduction of captured human motions by a humanoid robot. We take into account two important aspects of retargeting simultaneously: spatial relationship and robot dynamics model. The former takes care of the spatial relationship between the body parts based on "interaction mesh" to follow the human motion in a natural manner, whereas the latter adapts the resulting motion in such a way that the dynamic constraints such as torque limit or dynamic balance are being satisfied. We have integrated the interaction mesh and the dynamic constraints in a unified optimization framework, which is advantageous for generation of natural motions by a humanoid robot compared to previous work that performs those processes separately. We have validated the basic effectiveness of the proposed method with a sequence of postures converted from captured human data to a humanoid robot.
Fichier principal
Vignette du fichier
13isr.moulard.pdf (418.36 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00908568 , version 1 (25-11-2013)

Identifiants

  • HAL Id : hal-00908568 , version 1

Citer

Thomas Moulard, Eiichi Yoshida, Shin'Ichiro Nakaoka. Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints. The 44th Symposium on Robotics, Oct 2013, Seoul, South Korea. ⟨hal-00908568⟩

Collections

CNRS
232 Consultations
150 Téléchargements

Partager

Gmail Facebook X LinkedIn More