Alla
Safonova and Nancy S. Pollard
and Jessica K. Hodgins
Sarcos humanoid robot at ATR
(DB) tracking motion capture data of a human actor
Abstract:
Using pre-recorded human motion
and trajectory tracking, we can control the motion of a humanoid robot
for freespace, upper body gestures. However, the number of degrees of freedom,
range of joint motion, and achievable joint velocities of today’s humanoid
robots are far more limited than those of the average human subject. In
this paper, we explore a set of techniques for limiting human motion of
upper body gestures to that achievable by a Sarcos humanoid robot located
at ATR. In particular we have found that it is important to preserve the
configuration of the hands and head for upper body motion. We assess the
quality of the results by comparing the motion of the human actor to that
of the robot, both visually and quantitatively.
Results:
We tested these techniques with
fourteen motion sequences from seven professional actors. Each subject
performed to the same audio track of the children’s song, “I’m a little
teapot.” We chose this selection because it was familiar enough that most
actors would perform the motion in a similar but not identical way. It
was our hope that an individual’s style would be preserved through the
transformations necessary to allow the robot to perform the motion.
movie
for actor 1 (9MB)
movie
for actor 3 (11MB)
movie
for actor 5 (8MB)