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Modular Real-Time System for Upper-Body Motion Imitation on Humanoid Robot Talos

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Advances in Service and Industrial Robotics (RAAD 2021)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 102))

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Abstract

In this paper, real-time motion transfer from a human demonstrator to an advanced humanoid robot Talos is presented. The objective of the motion transfer is to reproduce the demonstrated motion as close as possible with the real robot. Using simple motion transfer while considering physical constraints and safety issues of the robot, a successful motion imitation approach is proposed. By using a low-cost RGB-D camera, human motions are being captured and transferred to the robot. Our main focus was to enable real-time motion imitation and implement a safety module to prevent the robot from executing fast, non-safe movements. While the stability of the robot has not yet been considered, with the proposed approach Talos can safely imitate upper-body human motion in real-time without significant delays. The system was experimentally evaluated in simulation and on the real robot.

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Notes

  1. 1.

    https://github.com/3DiVi/nuitrack-sdk.

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Acknowledgments

This work has received funding from program group Automation, robotics, and biocybernetics (P2-0076). K.S. is a holder of Ad Futura scholarship (287th Public Call). The authors would like to thank Rok Pahič, Zvezdan Lončarević, Bojan Nemec and Andrej Gams for their valuable suggestions in the software development process.

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Correspondence to Kristina Savevska .

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Savevska, K., Simonič, M., Ude, A. (2021). Modular Real-Time System for Upper-Body Motion Imitation on Humanoid Robot Talos. In: Zeghloul, S., Laribi, M.A., Sandoval, J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_25

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