Data-Driven Complex Motion Design for Humanoid Robots

2016 ◽  
pp. 355-363
Author(s):  
Xiaojie Zheng ◽  
Pengfei Yi ◽  
Qiang Zhang
Keyword(s):  
Humanoid Robots ◽  
Data Driven ◽  
Complex Motion ◽  
Motion Design

scholarly journals The Mechanism of Yaw Torque Compensation in the Human and Motion Design for Humanoid Robots

10.5772/54211 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 57 ◽  
Author(s):  
Si Zhang ◽  
Qiang Huang ◽  
Huaping Wang ◽  
Wei Xu ◽  
Gan Ma ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Motion Design

Interacting with Humanoid Robots: Affective Robot Motion Design with 3D Squash and Stretch Using Japanese Jo-ha-kyu Principles in Bunraku

2021 ◽  
Author(s):  
Ran Dong ◽  
Yuying He ◽  
Dongsheng Cai ◽  
Jinichi Yamaguchi ◽  
Hayato Kondo ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Robot Motion ◽  
Motion Design

PERFORMANCE-DERIVED BEHAVIOR VOCABULARIES: DATA-DRIVEN ACQUISITION OF SKILLS FROM MOTION

2004 ◽  
Vol 01 (02) ◽  
pp. 237-288 ◽  
Author(s):  
ODEST CHADWICKE JENKINS ◽  
MAJA J. MATARIĆ
Keyword(s):  
Time Series Data ◽  
Humanoid Robots ◽  
Human Motion ◽  
Skill Level ◽  
Data Driven ◽  
Gradient Field ◽  
Series Data ◽  
Temporal Dimension ◽  
Trajectory Formation ◽  
Kinematic Motion

Control for and interaction with humanoid robots is often restrictive due to limitations of the robot platform and the high dimensionality of controlling systems with many degrees of freedom. We focus on the problem of providing a "skill-level interface" for a humanoid robot. Such an interface serves as (i) a modular foundation for structuring task-oriented control, (ii) a parsimonious abstraction of motor-level control (e.g. PD-servo control), and (iii) a means for grounding interactions between humans and robots through common skill vocabularies. Our approach to constructing skill-level interfaces is two-fold. First, we propose a representation for a skill-level interface as a "behavior vocabulary," a repertoire of modular exemplar-based memory models expressing kinematic motion. A module in such a vocabulary encodes a flow field (or gradient field) in joint angle space that describes the "flow" of kinematic motion for a particular skill-level behavior, enabling prediction from a given kinematic configuration. Second, we propose a data-driven method for deriving behavior vocabularies from time-series data of human motion using spatio-temporal dimension reduction and clustering. Results from evaluating an implementation of our methodology are presented along with the application of derived behavior vocabularies as predictors towards on-line humanoid trajectory formation and off-line motion synthesis.

scholarly journals Evolutionary Motion Design for Humanoid Robots

10.5772/5473 ◽  
2008 ◽  
Author(s):  
Toshihiko Yanase ◽  
Hitoshi Ib
Keyword(s):  
Humanoid Robots ◽  
Motion Design

scholarly journals A data-driven approach to probabilistic impedance control for humanoid robots

2020 ◽  
Vol 124 ◽  
pp. 103353 ◽  
Author(s):  
Wataru Takano ◽  
Hiroki Kanayama ◽  
Taro Takahashi ◽  
Tomohisa Moridaira ◽  
Yoshihiko Nakamura
Keyword(s):  
Impedance Control ◽  
Humanoid Robots ◽  
Data Driven ◽  
Data Driven Approach
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