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Journal of Intelligent & Robotic Systems

, Volume 85, Issue 1, pp 27–45 | Cite as

Inverse Kinematics Based Human Mimicking System using Skeletal Tracking Technology

  • Mina AlibeigiEmail author
  • Sadegh Rabiee
  • Majid Nili Ahmadabadi
Article

Abstract

Humanoid robots needs to have human-like motions and appearance in order to be well-accepted by humans. Mimicking is a fast and user-friendly way to teach them human-like motions. However, direct assignment of observed human motions to robot’s joints is not possible due to their physical differences. This paper presents a real-time inverse kinematics based human mimicking system to map human upper limbs motions to robot’s joints safely and smoothly. It considers both main definitions of motion similarity, between end-effector motions and between angular configurations. Microsoft Kinect sensor is used for natural perceiving of human motions. Additional constraints are proposed and solved in the projected null space of the Jacobian matrix. They consider not only the workspace and the valid motion ranges of the robot’s joints to avoid self-collisions, but also the similarity between the end-effector motions and the angular configurations to bring highly human-like motions to the robot. Performance of the proposed human mimicking system is quantitatively and qualitatively assessed and compared with the state-of-the-art methods in a human-robot interaction task using Nao humanoid robot. The results confirm applicability and ability of the proposed human mimicking system to properly mimic various human motions.

Keywords

Imitation learning Mimicry Human-robot interaction Humanoid robot Nao humanoid robot Microsoft kinect sensor 

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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Mina Alibeigi
    • 1
    Email author
  • Sadegh Rabiee
    • 1
  • Majid Nili Ahmadabadi
    • 2
    • 3
  1. 1.Cognitive Systems Laboratory, School of Electrical and Computer Engineering, College of EngineeringUniversity of TehranTehranIran
  2. 2.Cognitive System Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of EngineeringUniversity of TehranTehranIran
  3. 3.School of Cognitive SciencesInstitute for Research in Fundamental Sciences (IPM)TehranIran

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