Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration

Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration

In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in ro...

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Main Authors: Gi il Kwon, Il Woong Jeong, Yong-Ho Seo, Hyun Seung Yang
Format: Article
Language:English
Published: SAGE Publishing 2012-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/52451
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spelling doaj-446bea5980eb4c308dd099b9ca7ff01f2020-11-25T03:40:30ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-10-01910.5772/5245110.5772_52451Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by DemonstrationGi il Kwon0Il Woong Jeong1Yong-Ho Seo2Hyun Seung Yang3 The Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Korea Mobile Comm. Samsung Electronics Co., Ltd, Yeongtong-gu, Suwon, Republic of Korea Department of Robot Engineering, Mokwon University, Daejeon, Korea Department of Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, KoreaIn this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in robot programming. An algorithm for transferring human motion to a robot and creating editable motions is presented to improve the reusability of the demonstrated motions. For generating various motions from a limited number of demonstrations, two motion models are presented and diverse motions are generated from the motion models. A humanoid robot, AMIO, is used to validate the proposed motion generation framework.https://doi.org/10.5772/52451
collection DOAJ
language English
format Article
sources DOAJ
author Gi il Kwon
Il Woong Jeong
Yong-Ho Seo
Hyun Seung Yang
spellingShingle Gi il Kwon
Il Woong Jeong
Yong-Ho Seo
Hyun Seung Yang
Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
International Journal of Advanced Robotic Systems
author_facet Gi il Kwon
Il Woong Jeong
Yong-Ho Seo
Hyun Seung Yang
author_sort Gi il Kwon
title Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
title_short Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
title_full Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
title_fullStr Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
title_full_unstemmed Framework for Creating Intuitive Motion Content for Humanoid Robots Based on Programming by Demonstration
title_sort framework for creating intuitive motion content for humanoid robots based on programming by demonstration
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2012-10-01
description In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in robot programming. An algorithm for transferring human motion to a robot and creating editable motions is presented to improve the reusability of the demonstrated motions. For generating various motions from a limited number of demonstrations, two motion models are presented and diverse motions are generated from the motion models. A humanoid robot, AMIO, is used to validate the proposed motion generation framework.
url https://doi.org/10.5772/52451
work_keys_str_mv AT giilkwon frameworkforcreatingintuitivemotioncontentforhumanoidrobotsbasedonprogrammingbydemonstration
AT ilwoongjeong frameworkforcreatingintuitivemotioncontentforhumanoidrobotsbasedonprogrammingbydemonstration
AT yonghoseo frameworkforcreatingintuitivemotioncontentforhumanoidrobotsbasedonprogrammingbydemonstration
AT hyunseungyang frameworkforcreatingintuitivemotioncontentforhumanoidrobotsbasedonprogrammingbydemonstration
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