Development of whole body motion imitation in humanoid robot

Wisnu Indrajit, Abdul Muis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Citations (Scopus)

Abstract

To be able to interact with humans, robot are made to perform similar motion to human movement. Imitation Learning or often called Motion Capture is one of the humanoid robot control techniques with human as an actor and the robot as an agent who will imitate the movement of the actor. This method offers flexibility and ease to modify robot system. This paper explores the method of designing whole body imitation in Humanoid Robot. Robot motion is controlled by Joint Space Control with reference motion captured by natural human motion through Microsoft Kinect. The motions are also preserved in database for later used on robot motion generation and teaching as well. Finally, the effectiveness of the proposed method is illustrated by the experiment of imitating Indonesia Traditional Dances motion using humanoid robot with 18 DOF.

Original languageEnglish
Title of host publication2013 International Conference on Quality in Research, QiR 2013 - In Conjunction with ICCS 2013
Subtitle of host publicationThe 2nd International Conference on Civic Space
Pages138-141
Number of pages4
DOIs
Publication statusPublished - 18 Dec 2013
Event2013 13th International Conference on Quality in Research, QiR 2013 - In Conjunction with the 2nd International Conference on Civic Space, ICCS 2013 - Yogyakarta, Indonesia
Duration: 25 Jun 201328 Jun 2013

Publication series

Name2013 International Conference on Quality in Research, QiR 2013 - In Conjunction with ICCS 2013: The 2nd International Conference on Civic Space

Conference

Conference2013 13th International Conference on Quality in Research, QiR 2013 - In Conjunction with the 2nd International Conference on Civic Space, ICCS 2013
CountryIndonesia
CityYogyakarta
Period25/06/1328/06/13

Keywords

  • Dynamixel
  • Humanoid Robot
  • Imitation
  • Inverse Kinematic
  • Kinect

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