방송공학회논문지 (Journal of Broadcast Engineering)

  • 제25권4호
  • /
  • Pages.528-536
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  • 2020
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  • 1226-7953(pISSN)
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  • 2287-9137(eISSN)
한국방송∙미디어공학회 (The Korean Institute of Broadcast and Media Engineers)
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인터렉티브 공연·전시를 위한 RGB-D 카메라 기반 휴머노이드 로봇의 실시간 로봇 동작 생성 방법

Real-Time Motion Generation Method of Humanoid Robots based on RGB-D Camera for Interactive Performance and Exhibition

  • 서보형 (한국생산기술연구원 로봇응용연구부문) ;
  • 이덕연 (한국생산기술연구원 로봇응용연구부문) ;
  • 최동운 (한국생산기술연구원 로봇응용연구부문) ;
  • 이동욱 (한국생산기술연구원 로봇응용연구부문)
  • Seo, Bohyeong (Applied Robot R&D Department, Korea Institute of Industrial Technology) ;
  • Lee, Duk-Yeon (Applied Robot R&D Department, Korea Institute of Industrial Technology) ;
  • Choi, Dongwoon (Applied Robot R&D Department, Korea Institute of Industrial Technology) ;
  • Lee, Dong-Wook (Applied Robot R&D Department, Korea Institute of Industrial Technology)
  • 투고 : 2020.06.02
  • 심사 : 2020.07.21
  • 발행 : 2020.07.30
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초록

휴머노이드 로봇 기술이 발전함에 따라서 로봇을 공연에 활용하는 사례가 늘어나고 있다. 이에 따라서 로봇의 동작을 사람처럼 자연스럽게 표현하여 공연에서의 활용범위를 보다 높이기 위한 연구들이 진행되고 있다. 이 중 모션캡쳐 기술을 이용하는 방식이 많이 사용되고 있는데, 일반적으로 모션 캡처를 하기 위해서 신체에 각 부위에 부착된 IMU 센서 혹은 마커들과 정밀한 고성능 카메라가 요구되는 등 준비하는 데에서 환경적인 불편함이 존재한다. 또한, 공연기술에 사용되는 로봇의 경우에는 실시간으로 돌발상황이나 관객의 반응에 따라서 실시간으로 대응해야 하는 문제가 존재한다. 본 논문에서는 위에서 언급한 문제들을 보완하고자 다수의 RGB-D 카메라를 이용한 실시간 모션캡쳐 시스템을 구축하고, 모션 캡쳐된 데이터를 이용하여 사람 동작과 유사한 자연스러운 로봇 동작을 생성하는 방법을 제안한다.

As humanoid robot technology advances, the use of robots for performance is increasing. As a result, studies are being conducted to increase the scope of use of robots in performances by making them natural like humans. Among them, the use of motion capture technology is often used, and there are environmental inconveniences in preparing for motion capture, such as the need for IMU sensors or markers attached to each part of the body and precise high-performance cameras. In addition, for robots used in performance technology, there is a problem that they have to respond in real time depending on the unexpected situation or the audience's response. To make up for the above mentioned problems, in this paper, we proposed a real-time motion capture system by using a number of RGB-D cameras and creating natural robot motion similar to human motion by using motion-captured data.

키워드

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