Options
Imitation System of Humanoid Robots and Its Applications
Journal
IEEE Open Journal of Circuits and Systems
Journal Volume
4
Start Page
15
End Page
24
ISSN
2644-1225
Date Issued
2023
Author(s)
Ze-Feng Zhan
DOI
10.1109/OJCAS.2022.3231097
Abstract
In this paper, we propose an imitation system that imitates human motions in videos to plan robot actions that are similar to human motions, with the aim of the complicated whole-body action planning of humanoid robots. Additionally, we created an interaction system that will enable basic human-robot interaction for our humanoid robot. To obtain the 3D coordinates of the key points on the human body, we used the 3D pose estimation model. The key points were then transformed into various trajectory files needed by the robot to complete the motion, using the mapping method proposed in this research, which refers to the control strategy and stability of the robot. In addition, we proposed some post-processing methods to post-process the trajectories. In the interaction system, we created a speech and vision system so that the robot could detect human gestures or postures and converse with people. It also has a music rhythm recognition system developed by seniors that enables the robot to dance to the beats of the song. Finally, through this system, we completed several human-robot interaction scenarios, which proved the convenience, and effectiveness of motion planning with an imitation system, and the completeness of the interaction system.
Subjects
3D pose estimation
human-robot interaction
Humanoid robot
imitation system
MediaPipe
motion database
motion planning
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Type
journal article