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Real-time full body motion imitation on the COMAN humanoid robot

Published online by Cambridge University Press:  20 June 2014

Andrej Gams ,
Jesse van den Kieboom ,
Florin Dzeladini ,
Aleš Ude  and
Auke Jan Ijspeert
Andrej Gams*
Affiliation:
Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Station 14, CH-1015 Lausanne, Switzerland
Jesse van den Kieboom
Affiliation:
Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Station 14, CH-1015 Lausanne, Switzerland
Florin Dzeladini
Affiliation:
Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Station 14, CH-1015 Lausanne, Switzerland
Aleš Ude
Affiliation:
Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia
Auke Jan Ijspeert
Affiliation:
Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Station 14, CH-1015 Lausanne, Switzerland
*
*Corresponding author. E-mail: andrej.gams@ijs.si
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Summary

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while maintaining stability, based on prioritized task control. We also describe a method of modified prioritized kinematic control that constrains the imitated motion to preserve stability only when the robot would tip over, but does not alter the motions otherwise. To cope with the passive compliance of the robot, we show how to model the estimation of the center of mass of the robot using support vector machines. In the paper we give detailed description of all steps of the algorithm, essentially providing a tutorial on the implementation of kinematic stability control. We present the results on a child-sized humanoid robot called Compliant Humanoid Platform or COMAN. Our implementation shows reactive and stable on-line motion imitation of the humanoid robot.

Keywords

KinematicsMotion imitationStabilityCenter-of-massSVM
Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015 , pp. 1049 - 1061
Copyright
Copyright © Cambridge University Press 2014 

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