Capture, Recognition and Imitation of Anthropomorphic Motion

Sovannara Hak (1) , Nicolas Mansard (1) , Oscar Efrain Ramos Ponce (1) , Layale Saab (1) , Olivier Stasse (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This work presents an overview of our current research works in generation, recognition and editing of anthropomorphic motion using a unified framework: the stack of tasks. It is based on the task function formalism classically used for motion generation. A task function maps the joint space of a robot to a dedicated space which is usually linked to the sensors of the robot: the task space. The task spaces are suitable to perform motion analysis and task recognition because the tasks are described in those spaces. The generation is originally based on inverse kinematics but can be generalized to produce full-dynamic motions. The tasks are defined by a tasks space, a reference behavior and a task Jacobian. 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.

Domaines: Robotique [cs.RO]

Sovannara Hak, Nicolas Mansard, Oscar Efrain Ramos Ponce, Layale Saab, Olivier Stasse. Capture, Recognition and Imitation of Anthropomorphic Motion. IEEE International Conference on Robotics and Automation (ICRA 2012), May 2012, St Paul, United States. pp. 3539-3540. ⟨hal-00706661⟩