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http://dx.doi.org/10.5909/JBE.2020.25.4.528

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

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)
Publication Information
Journal of Broadcast Engineering / v.25, no.4, 2020 , pp. 528-536 More about this Journal
Abstract
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.
Keywords
Motion capture; Robot motion; RGB-D camera; Interactive performance; Real-time;
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