Precisely imitating human motions in real-time poses a challenge for the robots due to difference in their physical structures. This paper proposes a human-computer interaction method for remotely manipulating life-si...
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Precisely imitating human motions in real-time poses a challenge for the robots due to difference in their physical structures. This paper proposes a human-computer interaction method for remotely manipulating life-size humanoid robots with a new metrics for evaluating motion similarity. First, we establish a motion capture system to acquire the operator's motion data and retarget it to the standard bone model. Secondly, we develop a fast mapping algorithm, by mapping the BVH (BioVision Hierarchy) data collected by the motion capture system to each joint motion angle of the robot to realize the imitated motion control of the humanoidrobot. Thirdly, a DTW (Dynamic Time Warping)-based trajectory evaluation method is proposed to quantitatively evaluate the difference between robot trajectory and human motion, and meanwhile, visualization terminals render it more convenient to make comparisons between two different but simultaneous motion systems. We design a complex gesture simulation experiment to verify the feasibility and real-time performance of the control method. The proposed human-in-the-loop imitation control method addresses a prominent non-isostructural retargeting problem between human and robot, enhances robot interaction capability in a more natural way, and improves robot adaptability to uncertain and dynamic environments.
Inspired by the concept of Tri-Co robots, a real-time motion imitation based human-robot interaction method is proposed to telemanipulate a life-size humanoid robot. First, a motion capture system is established to re...
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ISBN:
(纸本)9781538670668
Inspired by the concept of Tri-Co robots, a real-time motion imitation based human-robot interaction method is proposed to telemanipulate a life-size humanoid robot. First, a motion capture system is established to retarget the accurate motion data to a skeletal model. Second, the real-time data transfer for a human-in-the-loop control system is realized through the publish-subscribe messaging mechanism in ROS (robot Operating System). Third, a fast mapping algorithm is developed to convert BVH (BioVision Hierarchy) data into corresponding joint angles which are then encapsulated in a designed communication protocol and sent to a low-level slave controller through a serial port. Finally, visualization terminals render it more convenient to make comparisons between two different but simultaneous motion systems. Experimentation on complicated gesture imitation shows the feasibility of the proposed methodology, and the synchronous latency of less than 0.5 seconds validated its real-time performance. The proposed human-in-the-loop imitation control method enhances robot interaction capability in a more natural way and improves robot adaptability to uncertain and dynamic environments.
Policing of road traffic is listed in the most hazardous tasks since many traffic police personnel injured in a series of accidents at intersections. A life-size traffic cop robot called "IWI" is invented as...
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ISBN:
(纸本)9781538632604
Policing of road traffic is listed in the most hazardous tasks since many traffic police personnel injured in a series of accidents at intersections. A life-size traffic cop robot called "IWI" is invented as an alternative to human traffic police in the street for directing traffic on point duty, and this paper proposes a human-robot cooperation scheme with wearable augmented glasses as an HMI to obtain a more immersing teleoperation experience with the aid of wearable augmented reality glasses. First, a humanoidrobot is tailored for mobile surveillance with raspberry pi camera based eyes and omnidirectional Mecanum wheels. Second, the real-time video stream acquired by the on-site robot is distributed to multiple terminals, such as the central sever, the wearable augmented reality glasses and the mobile control tablet. Third, with a depth of focus estimation the augmented indications are displayed to aid to understand the remote scenario. Finally, the human policing results, such as STOP, PULL OVER, TURN-LEFT, are compiled and programmed as simplified patterns to control the robot body/hand pantomime. Experimental results show that the proposed methodology and control scheme is feasible in real-time application with high real-time performance of less than 0.5s latency, and open possibilities of easing the traffic jam via simultaneously scheduling multiple traffic cop robots.
In recent years, the numbers of life-sizehumanoids as well as their mobility capabilities have steadily grown. Stable walking motion and control for humanoidrobots are already well investigated research topics. This...
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ISBN:
(纸本)9781479971749
In recent years, the numbers of life-sizehumanoids as well as their mobility capabilities have steadily grown. Stable walking motion and control for humanoidrobots are already well investigated research topics. This raises the question how navigation problems in complex and unstructured environments can be solved utilizing a given black box walking controller with proper perception and modeling of the environment provided. In this paper we present a complete system for supervised footstep planning including perception, world modeling, 3D planner and operator interface to enable a humanoidrobot to perform sequences of steps to traverse uneven terrain. A proper height map and surface normal estimation are directly obtained from point cloud data. A search-based planning approach (ARA*) is extended to sequences of footsteps in full 3D space (6 DoF). The planner utilizes a black box walking controller without knowledge of its implementation details. Results are presented for an Atlas humanoidrobot during participation of Team ViGIR in the 2013 DARPA robotics Challenge Trials.
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