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Theses

Human motion transfer on humanoid robot.

Francisco Javier Montecillo Puente 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The aim of this thesis is to transfer human motion to a humanoid robot online. In the first part of this work, the human motion recorded by a motion capture system is analyzed to extract salient features that are to be transferred on the humanoid robot. We introduce the humanoid normalized model as the set of motion properties. In the second part of this work, the robot motion that includes the human motion features is computed using the inverse kinematics with priority. In order to transfer the motion properties a stack of tasks is predefined. Each motion property in the humanoid normalized model corresponds to one target in the stack of tasks. We propose a framework to transfer human motion online as close as possible to a human motion performance for the upper body. Finally, we study the problem of transfering feet motion. In this study, the motion of feet is analyzed to extract the Euclidean trajectories adapted to the robot. Moreover, the trajectory of the center of mass which ensures that the robot does not fall is calculated from the feet positions and the inverse pendulum model of the robot. Using this result, it is possible to achieve complete imitation of upper body movements and including feet motion.
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Submitted on : Tuesday, November 23, 2010 - 10:47:03 AM
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  • HAL Id : tel-00538681, version 1

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Francisco Javier Montecillo Puente. Human motion transfer on humanoid robot.. Automatic. Institut National Polytechnique de Toulouse - INPT, 2010. English. ⟨tel-00538681⟩

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