Communication Dans Un Congrès Année : 2014

Tasks prioritization for whole-body realtime imitation of human motion by humanoid robots

Résumé

This paper deals with on-line motion imitation of a human being by a humanoid robot using inverse kinematics (IK). First, the human observed trajectories are scaled in order to match the robot geometric and kinematic description. Second, a task prioritization process is defined using both equality and minimized constraints in the robot IK model, with four tasks: balance management, end-effectors tracking, joint limits avoidance and staying close to the human joint trajectories. The method was validated using the humanoid robot NAO.

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hal-01054887 , version 1 (11-08-2014)

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  • HAL Id : hal-01054887 , version 1

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Sophie Sakka, Louise Penna Poubel, Denis Cehajic. Tasks prioritization for whole-body realtime imitation of human motion by humanoid robots. Digital Intelligence (DI2014), Sep 2014, Nantes, France. 5 p. ⟨hal-01054887⟩
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