ICRA 2012 Paper Abstract


Paper WeD09.9

hak, sovannara (LAAS-CNRS, INSA Toulouse), Mansard, Nicolas (CNRS), Ramos, Oscar E. (LAAS-CNRS), Saab, Layale (LAAS-CNRS), Stasse, Olivier (CNRS)

Capture, Recognition and Imitation of Anthropomorphic Motion

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 17:10−17:15, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Humanoid Robots, Direct/Inverse Dynamics Formulation, Recognition


We present our works in generation, recognition and editing of anthropomorphic motion using the stack of tasks framework. It is based on the task function formalism classically used for motion generation. The task spaces are suitable to perform motion analysis and task recognition because the tasks are described in those spaces. The reference behaviors are originated from human trajectories. Specific tasks are then integrated to retarget and to edit the reference motion in order to respect the dynamic constraints, the limits of the robot and the general aspect.



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