Controlling Humanoid Robots with Motion Capture Data

Project Members

Katsu Yamane (Disney Research Pittsburgh)
Jessica Hodgins (Disney Research Los Angeles, Disney Research Pittsburgh)
Stuart O. Anderson (Carnegie Mellon University)

Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking a given reference motion that does not include contact state changes. The controller consists of a balance controller based on a simplified robot model and a tracking controller that performs local joint feedback and an optimization process to obtain the joint torques to simultaneously realize balancing and tracking. In this paper, we improve the controller to address the issues related to root position/orientation estimation, model uncertainties, and the difference between expected and actual contact forces. We implement the controller on a full-body, force-controlled humanoid robot. Experimental results demonstrate that the controller can successfully make the robot track captured human motion sequences.

 

Publications

Human Motion Tracking Control with Strict Contact Force Constraints for Floating-Base Humanoid Robots-Thumbnail

Human Motion Tracking Control with Strict Contact Force Constraints for Floating-Base Humanoid Robots
October 14, 2013
IEEE Humanoids 2013
Paper File [pdf, 2.92 MB]

Controlling Humanoid Robots with Human Motion Data- Experimental Validation-Thumbnail

Controlling Humanoid Robots with Human Motion Data: Experimental Validation
December 6, 2010
IEEE Humanoids 2010
Paper File [pdf, 1.86 MB]

Control-Aware Mapping of Human Motion Data with Stepping for Humanoid Robots-Thumbnail

Control-Aware Mapping of Human Motion Data with Stepping for Humanoid Robots
October 18, 2010
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010
Paper File [pdf, 1.39 MB]

Simultaneous Tracking and Balancing of Humanoid Robots for Imitating Human Motion Capture Data-Thumbnail

Simultaneous Tracking and Balancing of Humanoid Robots for Imitating Human Motion Capture Data
October 11, 2009
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2009
Paper File [pdf, 550.55 KB]

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