Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Generation and Animation of Optimal Robot Joint Motion data using Captured Human Motion data

인체모션 데이터 획득 장치와 최적화 기법을 사용한 로봇운동 데이터 생성과 애니메이션

  • Bae, Tae Young (Seoul National University of Science and Technology, 317 Fronier Hall) ;
  • Kim, Young Seog (Seoul National University of Science and Technology, 918 Fronier Hall)
  • Received : 2013.04.01
  • Accepted : 2013.05.14
  • Published : 2013.06.15
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Abstract

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

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References

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