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Extending Motion Skills for Humanoid Robot
Qian Wang1,2
Shihui Guo1, Nadia Magnenat Thalmann1 1Nanyang Technological university
2Xiamen university
21/06/2016
• Humanoid robot
ASIMO — Honda Motor Co., Ltd. iCub — EU project RobotCub
Atlas — Boston Dynamics robot NAO — ALDEBARAN ROBOTICS
Introduction
• HR-OS1
Introduction
Height 43cm
Weight 1.85kg
DOF 20
Servos AX-12A
Sensors Gyro, Accelerometer
Sub Controller Arbotix PRO
OS Yocto OpenEmbedded Linux
HR-OS1 endoskeleton
• Motion Imitation
– Optimization problem with constraints Kim, Seungsu, ChangHwan Kim, and Jong Hyeon Park. "Human-like arm motion
generation for humanoid robots using motion capture database." IEEE/RSJ
International Conference on Intelligent Robots and Systems,. 2006.
Suleiman, Wael, et al. "On human motion imitation by humanoid robot." IEEE
International Conference on Robotics and Automation (ICRA),. 2008.
Related Work
– Mocap data & depth image Koenemann, Jonas, Felix Burget, and Maren Bennewitz. "Real-time imitation of
human whole-body motions by humanoids." IEEE International Conference on Robotics and Automation (ICRA). 2014.
Lin, Hsien-I., and Chan-Ching Chou. "Humanoid robot motion imitation using Kinect." IEEE International Conference on Advanced Robotics and Intelligent Systems (ARIS). 2015.
Ramos, O., et al. "Dynamic whole body motion generation for the dance of a humanoid robot." IEEE Robotics & Automation Magazine (RAM) (2015).
Autodesk Maya
Motion Capture
Data
Mocap Device
Database
Read
Skeleton Mapping
Motion Imitation
Rotation Correction
Balance Detection
Adjustment
Transfer
Servo Angle Value
Complete process of motion imitation
Methodology - Motion Imitation
Motion Imitation - Motion Imitation
Virtual robot Real robot
Motion Imitation
1 - 1 1 - N 0 - 1
- Skeleton Mapping
Skeleton of virtual human Skeleton of virtual robot Virtual robot Model
Three mapping rules
1 human joint 1 robot DOF
1 human joint N robot DOF
0 human joint 1 robot DOF
If the feet of virtual robot are not parallel to ground, the real
robot will kick something or fall down.
Motion Imitation - Rotation Correction
Rotation
Correction
• ROS package
– Listener
• Walking module
• Motion module
– Talker
• Behavior engine
– Topic
• Motiondirector
Methodology - More Motion Skills
Action module
Master Action module
message message
Walking
Motion
Behavior engine
Gripper
Navigation
NLP
• Action module
– Walking
– Fall detection
• Gyro
• incline_limit
More Motion Skills - Listener
ground
fall forward fall backward
• Action module
– Get up
• When walking, the robot can get up by itself after falling down .
More Motion Skills - Listener
• Gripper module – Object coordinate.
– The number of steps and value of servos.
– Execute the motion.
More Motion Skills - Talker
𝒙, 𝒚, 𝒛
𝒙′, 𝒚′, 𝒛′
z
x
y O
𝐬𝐭𝐞𝐩 𝐥𝐞𝐧𝐠𝐭𝐡
z
x
y O
𝐖𝐚𝐥𝐤𝐢𝐧𝐠 𝐍 𝐬𝐭𝐞𝐩𝐬
Future Work
• Balance
– Increase the stability of the lower body.
– More pressure sensors.
• Visual
– Install a RGB-D camera as the eyes of robot.
– Update the distance between robot and object in real time.
– Adjust the motion of robot.
