Organisation, Repräsentation und Analyse menschlicher Ganzkörperbewegung für die datengetriebene Bewegungsgenerierung bei humanoiden Robotern
Abstract
This work presents an approach to data-driven motion generation for humanoid robots, which is based on the observation and analysis of human whole-body motions. To this end, we investigate how captured human motions can be represented, classified and organized in a large-scale motion database. The statistical modeling of the transitions between characteristic whole-body poses enables the subsequent generation of multi-contact motions.
Keywords
Ganzkörperbewegung; robotics; motion generation; Bewegungsgenerierung; menschliche Bewegungsanalyse; humanoid robotics; human motion analysis; Robotik; humanoide Robotik; whole-body motionISBN
9783731507291Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2017Series
Karlsruhe Series on Humanoid Robotics,Classification
Computer science