extending motion skills for humanoid robotimi.ntu.edu.sg/newsevents/events/pastseminars/... ·...

Extending Motion Skills for Humanoid Robot

Qian Wang1,2

Shihui Guo1, Nadia Magnenat Thalmann1 1Nanyang Technological university

2Xiamen university

21/06/2016

• Humanoid robot

ASIMO — Honda Motor Co., Ltd. iCub — EU project RobotCub

Atlas — Boston Dynamics robot NAO — ALDEBARAN ROBOTICS

Introduction

• HR-OS1

Introduction

Height 43cm

Weight 1.85kg

DOF 20

Servos AX-12A

Sensors Gyro, Accelerometer

Sub Controller Arbotix PRO

OS Yocto OpenEmbedded Linux

HR-OS1 endoskeleton

• Motion Imitation

– Optimization problem with constraints Kim, Seungsu, ChangHwan Kim, and Jong Hyeon Park. "Human-like arm motion

generation for humanoid robots using motion capture database." IEEE/RSJ

International Conference on Intelligent Robots and Systems,. 2006.

Suleiman, Wael, et al. "On human motion imitation by humanoid robot." IEEE

International Conference on Robotics and Automation (ICRA),. 2008.

Related Work

– Mocap data & depth image Koenemann, Jonas, Felix Burget, and Maren Bennewitz. "Real-time imitation of

human whole-body motions by humanoids." IEEE International Conference on Robotics and Automation (ICRA). 2014.

Lin, Hsien-I., and Chan-Ching Chou. "Humanoid robot motion imitation using Kinect." IEEE International Conference on Advanced Robotics and Intelligent Systems (ARIS). 2015.

Ramos, O., et al. "Dynamic whole body motion generation for the dance of a humanoid robot." IEEE Robotics & Automation Magazine (RAM) (2015).

Autodesk Maya

Motion Capture

Data

Mocap Device

Database

Read

Skeleton Mapping

Motion Imitation

Rotation Correction

Balance Detection

Adjustment

Transfer

Servo Angle Value

Complete process of motion imitation

Methodology - Motion Imitation

Motion Imitation - Motion Imitation

Virtual robot Real robot

Motion Imitation

1 - 1 1 - N 0 - 1

- Skeleton Mapping

Skeleton of virtual human Skeleton of virtual robot Virtual robot Model

Three mapping rules

1 human joint 1 robot DOF

1 human joint N robot DOF

0 human joint 1 robot DOF

If the feet of virtual robot are not parallel to ground, the real

robot will kick something or fall down.

Motion Imitation - Rotation Correction

Rotation

Correction

Motion Imitation - Imitation Results

• ROS package

– Listener

• Walking module

• Motion module

– Talker

• Behavior engine

– Topic

• Motiondirector

Methodology - More Motion Skills

Action module

Master Action module

message message

Walking

Motion

Behavior engine

Gripper

Navigation

NLP

• Action module

– Walking

– Fall detection

• Gyro

• incline_limit

More Motion Skills - Listener

ground

fall forward fall backward

• Action module

– Get up

• When walking, the robot can get up by itself after falling down .

More Motion Skills - Listener

• Gripper module – Object coordinate.

– The number of steps and value of servos.

– Execute the motion.

More Motion Skills - Talker

𝒙, 𝒚, 𝒛

𝒙′, 𝒚′, 𝒛′

z

x

y O

𝐬𝐭𝐞𝐩 𝐥𝐞𝐧𝐠𝐭𝐡

z

x

y O

𝐖𝐚𝐥𝐤𝐢𝐧𝐠 𝐍 𝐬𝐭𝐞𝐩𝐬

Results

Future Work

• Balance

– Increase the stability of the lower body.

– More pressure sensors.

• Visual

– Install a RGB-D camera as the eyes of robot.

– Update the distance between robot and object in real time.

– Adjust the motion of robot.

Thank you!

Qian Wang E-mail：shirleyghost@gmail.com