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Imitating Human Movement with Teleoperated Robotic Head
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
Vise andre og tillknytning
2016 (engelsk)Inngår i: 2016 25TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), 2016, s. 630-637Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Effective teleoperation requires real-time control of a remote robotic system. In this work, we develop a controller for realizing smooth and accurate motion of a robotic head with application to a teleoperation system for the Furhat robot head [1], which we call TeleFurhat. The controller uses the head motion of an operator measured by a Microsoft Kinect 2 sensor as reference and applies a processing framework to condition and render the motion on the robot head. The processing framework includes a pre-filter based on a moving average filter, a neural network-based model for improving the accuracy of the raw pose measurements of Kinect, and a constrained-state Kalman filter that uses a minimum jerk model to smooth motion trajectories and limit the magnitude of changes in position, velocity, and acceleration. Our results demonstrate that the robot can reproduce the human head motion in real time with a latency of approximately 100 to 170 ms while operating within its physical limits. Furthermore, viewers prefer our new method over rendering the raw pose data from Kinect.

sted, utgiver, år, opplag, sider
2016. s. 630-637
Serie
IEEE RO-MAN, ISSN 1944-9445
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-200244DOI: 10.1109/ROMAN.2016.7745184ISI: 000390682500081Scopus ID: 2-s2.0-85002840070ISBN: 978-1-5090-3929-6 (tryckt)OAI: oai:DiVA.org:kth-200244DiVA, id: diva2:1074154
Konferanse
25th IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN), AUG 26-31, 2016, Columbia Univ, Teachers Coll, New York City, NY
Merknad

QC 20170214

Tilgjengelig fra: 2017-02-14 Laget: 2017-02-14 Sist oppdatert: 2018-12-04bibliografisk kontrollert

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Forlagets fulltekstScopushttp://www.tc.columbia.edu/conferences/roman2016/

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