tailieunhanh - Humanoid Robots Part 13

Tham khảo tài liệu 'humanoid robots part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Developing New Abilities for Humanoid Robots with a Wearable Interface 293 . Generating New Motions The sequence of keyframe motions can be written as a sequence of motion primitives and we can calculate the transition probabilities among all the clusters. The transitions can be represented as a weighted directed graph. We used the graph as a model of a motion sequence for the user s demonstration. New motions can be generated by writing a new sequence with following the transitions of the model. We can create a new motion from multiple motion models. The transitions among multiple models can be only caused between the similar motion primitives and motion frame interpolations are conducted to complement the surprise changes in transitions between different motion models. Fig. 7. Creating motion model using motion primitives 6. Examples We tested our motion generation method using our humanoid robot AMIO. After finishing the motion capture from the user demonstration our system extracted motion primitives and made a motion model for the demonstrated motion. We implemented a simulator to check the validity of generated motion before applying to real robot platform like Fig. 8. An example of motion tracking using the wearable interface is shown in Fig 9. Fig. 8. An example of simulated motion Two simple motions are demonstrated by an user - a simple heart drawing motion and a simple boxing motion. A heart drawing motion is used to test our wearable interface s motion capturing capability. The AMIO s heart drawing motion is shown in Fig. 10. And for generating new motions for AMIO a basic boxing motion was demonstrated by an user and AMIO generated its modified motion based on the motion primitives from the demonstrated motion. Then the robot started to generate a new motion based on the motion model. The generated boxing motion for AMIO is shown in Fig. 11. 294 Humanoid Robots Fig. 9. Motion tracking from user demonstration Fig. 10. A heart drawing motion Fig. 11.