Humanoid robots imitation of human motion using offline and real-time adaptation techniques
by Toufik Bentaleb; Luay Shahin
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 2, No. 3/4, 2015

Abstract: This paper describes offline and real-time motion conversion approaches for imitating the motion of a human being using a humanoid robot. In both cases, the human motion is measured with marker points captured by the 3D motion capture system Vicon. A similar physical morphology between the shape of the robot and the human is assumed. This paper also demonstrates that the input measurements of the human motion to remain as close as possible to the real motion. In the offline approach, we use the iCub humanoid robot, while, for the real-time approach, James robot is used with some modification of the existing imitation and limiting human motion techniques. During the realisation of this work, we had a particular attention to obtain a 'natural' appearance of the motion. The proposed strategies, based on the obtained results, can be capable of accomplishing offline and real-time responses.

Online publication date: Mon, 11-Jan-2016

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechanisms and Robotic Systems (IJMRS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com