脚タスクモデルを用いた2足歩行ヒューマノイドロボットによる人の舞踊動作の再現 [in Japanese] Leg Task Models for Reproducing Human Dance Motions on Biped Humanoid Robots [in Japanese]
Access this Article
Search this Article
In this paper, we propose a method that enables a biped humanoid robot to reproduce human dance motions with its whole body. Our method is based on the paradigm of<I>Learning from Observation</I>. In this study, a robot uses its own legs to support the body during a dance performance. We propose<I>leg task models</I>, which can solve the problems caused by severe constraints in adapting human motions to the legs of a robot. First, elements of the leg task models are recognized from motion data captured from human performances. Then motion data of a robot is regenerated from the recognized elements so that the motion is stably executable on the robot. Our method was verified by experiments on a humanoid robot<I>HRP-2</I>using a traditional folk dance. HRP-2 successfully performed dance motions that were automatically reproduced from motion data captured from human dance performances.
JRSJ 24(3), 388-399, 2006-04-15
The Robotics Society of Japan