Conference proceeding
Applying Motion Capture System for Collaborative Tasks with a Human
2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL)
01 Jan 2012
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed their walking patterns, corresponding step distance and heading direction of HUBO was calculated from relative position and orientation difference between the robot and the worker. To generate a stable walking movement, we optimized the initial step of HUBO using reinforcement learning whenever walking pattern is changed. For this, we used a Q learning algorithm with inputs from the MoCap system and Zero moment point (ZMP) of HUBO served as a balance criterion. Experimental evaluation of the presented approach demonstrates that HUBO can follow the movement of a human worker and carry an object without helps from humans such as oral speech commands.
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Details
- Title
- Applying Motion Capture System for Collaborative Tasks with a Human
- Creators
- Kiwon Sohn - Drexel Univ, Dept Mech Engn & Mech, Philadelphia, PA 19104 USAYoungmoo Kim - Drexel Univ, Dept Elect & Comp Engn, Philadelphia, PA 19104 USAPaul Oh - Drexel Univ, Dept Mech Engn & Mech, Philadelphia, PA 19104 USAIEEE
- Publication Details
- 2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL)
- Conference
- 2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), 9th
- Publisher
- IEEE
- Number of pages
- 6
- Grant note
- 0730206 / Partnerships for International Research and Education (PIRE); National Science Foundation (NSF); NSF - Office of the Director (OD) U. S. National Science Foundation; National Science Foundation (NSF)
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Identifiers
- 991019170595404721
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InCites Highlights
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- Web of Science research areas
- Computer Science, Artificial Intelligence
- Engineering, Electrical & Electronic
- Robotics