Embodiments of the invention provide an approach for reproducing a human action with a robot. The approach includes receiving data representing motions and contact forces of the human as the human performs the action. The approach further includes approximating, based on the motions and contact forces data, the center of mass (CoM) trajectory of the human in performing the action. Finally, the approach includes generating a planned robot action for emulating the designated action by solving an inverse kinematics problem having the approximated human CoM trajectory as a hard constraint and the motion capture data as a soft constraint.
Robot action based on human demonstration
2015-10-20
Patent
Elektronische Ressource
Englisch
Visual object-action recognition: Inferring object affordances from human demonstration
British Library Online Contents | 2011
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