GVU Technical Report Number:
GIT-GVU-00-24
Title:
Automatic Generation of Kinematic Models for the Conversion of Human
Motion Capture Data into Humanoid Robot Motion
Authors:
A. Ude
C. Man
M. Riley
C.G. Atkeson
Abstract:
Human motion capture is a promising technique for the generation of
humanoid robot motions. To convert human motion into humanoid
robot motion, we need to relate the humanoid robot kinematics to the
kinematics of a human performer. In this paper we propose an automatic
approach for scaling of humanoid robot kinematic parameters to the
kinematic parameters of a human performer. The kinematic model is
constructed directly from the motion capture data without manual
measurements. We discuss the use of the resulting kinematic model for
the generation of humanoid robot motions based on teh observed human
motions. The results of the proposed technique on real human motion
capture data are presented.
Keywords:
Automatic scaling, kinematic model, humanoid robot
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