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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2023

Synchronized Human-Humanoid Motion Imitation

Résumé

We present a tele-operation control framework that (i) enhances the upper motion synchrony between a user and a robot using the minimum-jerk model coupled with a recursive least-square filter, and (ii) synchronizes the walking pace by predicting user's stepping frequency using motion capture data and a deep learning model. By integrating (i) and (ii) in a task-space whole-body controller, we achieve full-body synchronization. We assess our humanoid-to-human wholebody synchronized motion model on the HRP-4 humanoid robot in forward, lateral and backward walks with concurrent upper limbs motions experiments.
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Dates et versions

hal-04094385 , version 1 (11-05-2023)

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Domaine public

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Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar. Synchronized Human-Humanoid Motion Imitation. IEEE Robotics and Automation Letters, 2023, 8 (7), pp.4155-4162. ⟨10.1109/LRA.2023.3280807⟩. ⟨hal-04094385⟩
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