Conference Proceeding

A model-based humanoid perception system for real-time human motion imitation

Dpto. Tecnologia Electron., Malaga Univ., Spain;
01/2005; DOI:10.1109/RAMECH.2004.1438939 ISBN: 0-7803-8645-0 pp.324 - 329 vol.1 In proceeding of: Robotics, Automation and Mechatronics, 2004 IEEE Conference on, Volume: 1
Source: IEEE Xplore

ABSTRACT This paper presents real-time human motion analysis based on hierarchical tracking and inverse kinematics. Our goal is to implement a mechanism of human-machine interaction that permits a robot to learn from human gestures, and, as a first stage, we have developed a computer-vision based human upperbody motion analysis system. This application requires developing a real-time human motion capturing system that works without special devices or markers. Since such a system is unstable and can only acquire, partial information because of self-occlusions, we have introduced a pose estimation method based on inverse kinematics. This system can estimate upper-body human postures with limited perceptual cues such as position of head and hands. The method has been tested using a HOAP-I humanoid robot.

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Keywords

first stage
 
hierarchical
 
HOAP-I humanoid robot
 
human upperbody motion analysis system
 
human-machine interaction
 
limited perceptual cues
 
markers
 
paper presents real-time human motion analysis
 
partial information
 
permits
 
pose estimation method
 
real-time human motion
 
robot