Abstract
The objective of this paper is to devise a scheme for generating arm gestures of humanoid robots. Inverse kinematics and the minimum-jerk trajectory method are used to generate trajectory of each gesture. To calculate the desired positions of arms, inverse kinematics is solved by the damped least-squares method. Human-like trajectory from initial position to desired position is generated by the minimum-jerk trajectory method. The effectiveness of the proposed method is demonstrated through a human robot interaction (HRI) experiment by using the humanoid robot Mybot-KSR, developed in KAIST RIT Laboratory. In the experiment, internal state of the robot is changed from the perceived environment. The internal state consists of emotion and homeostasis. Based on the emotion, the robot tries to interact with human by selecting proper gestures using the fuzzy integral and fuzzy measure.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Breazeal, C.: Social interactions in HRI: the robot view. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews 34(2), 181–186 (2004)
Mehrabian, A.: Silent messages. Wadsworth Publishing Company, Inc. (1971)
Pelachaud, C., Gelin, R., Martin, J.C., Le, Q.A.: Expressive Gestures Displayed by a Humanoid Robot during a Storytelling Application. In: New Frontiers in Human-Robot Interaction (AISB), Leicester, GB (2010)
Salem, M., Kopp, S., Wachsmuth, I., Joublin, F.: Towards an integrated model of speech and gesture production for multi-modal robot behavior. In: IEEE International Symposium on Robots and Human Interactive Communications, pp. 614–619. IEEE Press (2010)
Kuffner Jr., J.J., LaValle, S.M.: RRT-connect: An efficient approach to single-query path planning. In: IEEE International Conference on Robotics and Automation 2, pp. 995–1001. IEEE Press (2000)
Chang, P.-H., Park, K.-C., Lee, S.: An extension to operational space for kinematically redundant manipulators: kinematics and dynamics. IEEE Transactions on Robotics and Automation 16(5), 592–596 (2000)
Park, K.-C., Chang, P.-H., Lee, S.: Analysis and control of redundant manipulator dynamics based on an extended operational space. Robotica 19(6), 649–662 (2001)
Gibbs, J.: Easy inverse kinematics using genetic programming. In: Proceedings of the First Annual Conference on Genetic Programming, pp. 422–422. MIT Press (1989)
Parker, J.K., Khoogar, A.R., Goldberg, D.E.: Inverse kinematics of redundant robots using genetic algorithms. In: IEEE International Conference on Robotics and Automation, pp. 271–276. IEEE Press (1989)
Wampler, C.W.: Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Transactions on Systems, Man and Cybernetics 16(1), 93–101 (1986)
Nakamura, Y., Hanafusa, H.: Inverse kinematic solutions with singularity robustness for robot manipulator control. ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control 108, 163–171 (1986)
Park, I.-W.: Kinematic calibration, optimal trajectory generation, and MOEA-based optimal posture control of humanoid robot. Ph.D thesis, Korea Advanced Institute of Science and Technology (2012)
Flash, T., Hogan, N.: The coordination of arm movements: an experimentally confirmed mathematical model. The Journal of Neuroscience 5(7), 1688–1703 (1985)
Ekman, P., Friesen, W.V.: Unmasking the face: A guide to recognizing emotions from facial clues. Prentice Hall, Englewood Cliffs (2003)
MeClelland, D.C., Burnham, D.H.: Power is great motivator. Harvard Business Review 54 (2) (1976)
Maslow, A.H.: A Theory of Human Motivation. Psychologicl Review (1943)
Hyun, H.-S.: Situational preference degree-based expression selection method for promoting robot. M.S. thesis, Electrical engineering, M.S. thesis, Korea Advanced Institute of Science and Technology (2012)
Sugeno, M.: Theory of fuzzy integrals and its applications. Ph.D thesis, Tokyo Institute of Technology (1974)
Sugeno, M.: Fuzzy measures and fuzzy integrals - a survey. Fuzzy Automata and Decision Processes, Amsterdam, North Holland (1977)
Grabisch, M., Nguyen, H.-T., Walker, E.-A.: Fundamentals of uncertainty calculi, with applications to fuzzy inference. Kluwer, Boston (1995)
Yoo, B.-S., Cho, S.-H., Kim, J.-H.: Fuzzy integral-based composite facial expression generation for a robotic head. In: IEEE International Conference on Fuzzy System, pp. 917–923. IEEE Press (2011)
Takahagi: A fuzzy measure identification method by diamond pairwise comparisons and φ s transformation. Fuzzy Optimization Decision Making 7(3), 219–232 (2008)
Narukawa, Y., Torra, V.: Fuzzy measure and probability distribution: distorted probabilities. IEEE Transactions on Fuzzy Systems 13(5), 617–629 (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lee, SJ., Jung, CY., Yoo, BS., Cho, SH., Kim, YM., Kim, JH. (2013). Arm Gesture Generation of Humanoid Robot Mybot-KSR for Human Robot Interaction. In: Omar, K., et al. Intelligent Robotics Systems: Inspiring the NEXT. FIRA 2013. Communications in Computer and Information Science, vol 376. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40409-2_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-40409-2_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40408-5
Online ISBN: 978-3-642-40409-2
eBook Packages: Computer ScienceComputer Science (R0)