Title :
On geodesic paths and least-cost motions for human-like tasks
Author :
Datas, Adrien ; Chiron, Pascale ; Fourquet, Jean-Yves
Author_Institution :
Lab. Genie de Production, Un. de Toulouse, Toulouse, France
Abstract :
We are interested in “human-like” automatic motion generation. The apparent redundancy of the humanoid wrt its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. Some results have been obtained in the human motion literature for reach motion that involves the position of the hands. We discuss these results and a motion generation scheme associated. When orientation is also explicitly required, very few works are available and even the methods for analysis are not defined. We discuss the choice for metrics adapted to the orientation, and also the problems encountered in defining a proper metric in both position and orientation. Motion capture and simulations are provided in both cases. The main goals of this paper are : - to provide a survey on human motion features at task level for both position and orientation, - to propose a kinematic control scheme based on these features - to define properly the error between motion capture and automatic motion simulation.
Keywords :
humanoid robots; mobile robots; robot kinematics; automatic motion simulation; geodesic paths; human motion features; human-like automatic motion generation scheme; human-like tasks; least-cost motions; motion capture; redundant kinematic control scheme; Extraterrestrial measurements; Humans; Joints; Kinematics; Optimization; Quaternions;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723467