Abstract
New generations of humanoid robots are becoming more faithful copies of the human body. From the human point of view, besides the human’s look, the interest of humanoid robot can be in the more natural communication and interaction with human. Humanoid is also well adapted to environment dedicated to human, home or company. With morphology close to human one, it can be expected that the humanoid can replace the human in its task, but also that it can acquire human skills. Our objective is to generate anthropometric motion of humanoid robot inspired by human motion in everyday human activities. This can be done by imitation process, but in this context, each task has to be learned independently. Thus our approach consists in the search of the criterion used by human to achieve a task since the joint motion for achieving the same task is not unique. We will consider motions of the upper-body of the robots in which each arm has 7 degrees of freedom. Criteria that be explored are the minimization of the joint displacement, minimization of the kinetic energy and the proximity to ergonomic configuration. A study at the kinematic level based on generalized pseudo inverse of the Jacobian matrix is implemented. The joint motions obtained by minimization of the criterion are compared to the human motion adapted to the kinematic of the humanoid. The choice of the criterion optimized by the human is the one that corresponds to the smallest difference on joint configuration during all motion. Four different types of motion are considered.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Another configuration can also be chosen.
References
ART GmbH (2012) System user manual ARTtrack and TRACKPACK & Dtrack. version 2.8
Ayusawa K, Ikegami Y, Nakamura Y (2014) Simultaneous global inverse kinematics and geometric parameter identification of human skeletal model from motion capture data. Mech Mach Theory 74:274–284
Baillieul J (1985) Kinematic programming alternatives for redundant manipulators. Proc IEEE Conf Robot Autom 722–728
Buss SR (2004) Introduction to inverse kinematics with Jacobian transpose, pseudoinverse and damped least squares methods. IEEE J Robot Autom 17
FUI national Romeo project. http://projetromeo.com
Khalil W, Dombre E (2004) Modeling, identification and control of robot. Butterworth-Heinemann
Kim S, Kim CH, Park JH (2006) Human-like arm motion generation for humanoid robots using motion capture database. In: IEEE/RSJ international conference on intelligent robots and systems, pp 3486–3491
Kirk AG, O’Brien JF, Forsyth DA (2005) Skeletal parameter estimation from optical motion capture data. In: IEEE computer society conference on computer vision and pattern recognition, vol 2, pp 782–788
Lee D, Nakamura Y (2014) Motion recognition and recovery from occluded monocular observations. Robot Auton Syst 62(6):818–832
Mansard N, Chaumette F (2007) Task sequencing for high-level sensor-based control. IEEE Trans Rob 23(1):60–71
Nenchev DN, Tsumaki Y, Uchiyama M (2000) Singularity-consistent parameterization of robot motion and control. Int J Robot Res 19(2):159–182
Ott C, Lee D, Nakamura Y (2008) Motion capture based human motion recognition and imitation by direct marker control. In: 8th IEEE-RAS international conference on humanoid robots, pp 399–405
Park J et al (2001) Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators. Proc IEEE Conf Robot Autom 4041–4047
Poubel LP, Sakka S, Cehajic D, Creusot D (2014) Support changes during online human motion imitation by a humanoid robot using task specification. ICRA
Powell MJD (1978) A fast algorithm for nonlinearly constrained optimization calculations. In: Watson GA (Ed) Numerical analysis. Lecture notes in mathematics, vol 630. Springer, New York
Sakka S (2013) Representation of human movement for humanoid applications. Capture and Simulation of Human Motion, Ecole Centrale de Nantes, Nantes
Tomic M, Chevallereau Ch (2014) Conversion of captured human motion to the humanoid ROMEO for human imitation. The 1st IcETRAN Conference, Serbia
Walker ID (2008) Kinematically redundant manipulators. Springer Handbook of Robotics, pp 245–268
Wang Y, Artemiadis P (2013) Closed-form inverse kinematic solution for anthropomorphic motion in redundant robot arms. Adv Robot Autom 2:110
Whitney DE (1969) Resolved motion rate control of manipulators and human prostheses. IEEE Trans Man Mach Syst MMS-10(2):47–53
Yang J, Marler RT, Kim H, Arora J, Abdel-Malek K (2006) Multiobjective optimization for upper body posture prediction. Virtual soldier research program, center for computer-aided design, the university of Iowa, 111 engineering research facility, Iowa City (IA 52242-1000)
Acknowledgments
This work is supported by Serbian Ministry of Science under the grant III44008, TR35003, SNSF IP SCOPES, IZ74Z0_137361/1 and ANR project Equipex Robotex.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Tomić, M., Vassallo, C., Chevallereau, C., Rodić, A., Potkonjak, V. (2016). Arm Motions of a Humanoid Inspired by Human Motion. In: Bleuler, H., Bouri, M., Mondada, F., Pisla, D., Rodic, A., Helmer, P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, Cham. https://doi.org/10.1007/978-3-319-23832-6_19
Download citation
DOI: https://doi.org/10.1007/978-3-319-23832-6_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23831-9
Online ISBN: 978-3-319-23832-6
eBook Packages: EngineeringEngineering (R0)