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Imitating Human Movement with Teleoperated Robotic Head
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
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2016 (English)In: 2016 25TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), 2016, p. 630-637Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2016. p. 630-637
Series
IEEE RO-MAN, ISSN 1944-9445
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-200244ISI: 000390682500081Scopus ID: 2-s2.0-85002840070ISBN: 978-1-5090-3929-6 (print)OAI: oai:DiVA.org:kth-200244DiVA, id: diva2:1074154
Conference
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
Note

QC 20170214

Available from: 2017-02-14 Created: 2017-02-14 Last updated: 2017-05-23Bibliographically approved

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Scopushttp://www.tc.columbia.edu/conferences/roman2016/

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf