TY - GEN
T1 - Imitating human reaching motions using physically inspired optimization principles
AU - Albrecht, S.
AU - Ramírez-Amaro, K.
AU - Ruiz-Ugalde, F.
AU - Weikersdorfer, D.
AU - Leibold, M.
AU - Ulbrich, M.
AU - Beetz, M.
PY - 2011
Y1 - 2011
N2 - We present an end-to-end framework which equips robots with the capability to perform reaching motions in a natural human-like fashion. A markerless, high-accuracy, model-based human motion tracker is used to observe how humans perform everyday activities in real-world scenarios. The obtained trajectories are clustered to represent different types of manipulation and reaching motions occurring in a kitchen environment. Using bilevel optimization methods a combination of physically inspired optimization principles is determined that describes the human motions best. For humanoid robots like the iCub these principles are used to compute reaching motion trajectories which are similar to human behavior and respect the individual requirements of the robotic hardware.
AB - We present an end-to-end framework which equips robots with the capability to perform reaching motions in a natural human-like fashion. A markerless, high-accuracy, model-based human motion tracker is used to observe how humans perform everyday activities in real-world scenarios. The obtained trajectories are clustered to represent different types of manipulation and reaching motions occurring in a kitchen environment. Using bilevel optimization methods a combination of physically inspired optimization principles is determined that describes the human motions best. For humanoid robots like the iCub these principles are used to compute reaching motion trajectories which are similar to human behavior and respect the individual requirements of the robotic hardware.
UR - http://www.scopus.com/inward/record.url?scp=84856354699&partnerID=8YFLogxK
U2 - 10.1109/Humanoids.2011.6100856
DO - 10.1109/Humanoids.2011.6100856
M3 - Conference contribution
AN - SCOPUS:84856354699
SN - 9781612848679
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 602
EP - 607
BT - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
T2 - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Y2 - 26 October 2011 through 28 October 2011
ER -