A mapping approach for real time imitation of human movements by a 22 DOF humanoid
Descripción del Articulo
This work was supported by grant 234-2015-FONDECYT (Master Program) from Cienciactiva of the National Council for Science,Technology and Technological Innovation (CONCYTEC-PERU).
| Autores: | , |
|---|---|
| Formato: | objeto de conferencia |
| Fecha de Publicación: | 2018 |
| Institución: | Consejo Nacional de Ciencia Tecnología e Innovación |
| Repositorio: | CONCYTEC-Institucional |
| Lenguaje: | inglés |
| OAI Identifier: | oai:repositorio.concytec.gob.pe:20.500.12390/489 |
| Enlace del recurso: | https://hdl.handle.net/20.500.12390/489 https://doi.org/10.1109/LARS/SBR/WRE.2018.00081 |
| Nivel de acceso: | acceso abierto |
| Materia: | Spatial points Anthropomorphic robots Architecture Mapping Simulators Capture system Dynamic solutions Human movements Humanoid robot Motion capture Motion capture system Robotics https://purl.org/pe-repo/ocde/ford#2.02.02 |
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CONCYTEC-Institucional |
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| dc.title.none.fl_str_mv |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| title |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| spellingShingle |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid Cornejo-Arismendi V.A. Spatial points Anthropomorphic robots Architecture Architecture Mapping Simulators Capture system Dynamic solutions Human movements Humanoid robot Motion capture Motion capture system Motion capture system Robotics https://purl.org/pe-repo/ocde/ford#2.02.02 |
| title_short |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| title_full |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| title_fullStr |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| title_full_unstemmed |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| title_sort |
A mapping approach for real time imitation of human movements by a 22 DOF humanoid |
| author |
Cornejo-Arismendi V.A. |
| author_facet |
Cornejo-Arismendi V.A. Barrios-Aranibar D. |
| author_role |
author |
| author2 |
Barrios-Aranibar D. |
| author2_role |
author |
| dc.contributor.author.fl_str_mv |
Cornejo-Arismendi V.A. Barrios-Aranibar D. |
| dc.subject.none.fl_str_mv |
Spatial points |
| topic |
Spatial points Anthropomorphic robots Architecture Architecture Mapping Simulators Capture system Dynamic solutions Human movements Humanoid robot Motion capture Motion capture system Motion capture system Robotics https://purl.org/pe-repo/ocde/ford#2.02.02 |
| dc.subject.es_PE.fl_str_mv |
Anthropomorphic robots Architecture Architecture Mapping Simulators Capture system Dynamic solutions Human movements Humanoid robot Motion capture Motion capture system Motion capture system Robotics |
| dc.subject.ocde.none.fl_str_mv |
https://purl.org/pe-repo/ocde/ford#2.02.02 |
| description |
This work was supported by grant 234-2015-FONDECYT (Master Program) from Cienciactiva of the National Council for Science,Technology and Technological Innovation (CONCYTEC-PERU). |
| publishDate |
2018 |
| dc.date.accessioned.none.fl_str_mv |
2024-05-30T23:13:38Z |
| dc.date.available.none.fl_str_mv |
2024-05-30T23:13:38Z |
| dc.date.issued.fl_str_mv |
2018 |
| dc.type.none.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
| format |
conferenceObject |
| dc.identifier.isbn.none.fl_str_mv |
978-1-5386-7761-2 |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12390/489 |
| dc.identifier.doi.none.fl_str_mv |
https://doi.org/10.1109/LARS/SBR/WRE.2018.00081 |
| dc.identifier.isi.none.fl_str_mv |
469159000006 |
| identifier_str_mv |
978-1-5386-7761-2 469159000006 |
| url |
https://hdl.handle.net/20.500.12390/489 https://doi.org/10.1109/LARS/SBR/WRE.2018.00081 |
| dc.language.iso.none.fl_str_mv |
eng |
| language |
eng |
| dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess |
| eu_rights_str_mv |
openAccess |
| dc.publisher.none.fl_str_mv |
IEEE |
| publisher.none.fl_str_mv |
IEEE |
| dc.source.none.fl_str_mv |
reponame:CONCYTEC-Institucional instname:Consejo Nacional de Ciencia Tecnología e Innovación instacron:CONCYTEC |
| instname_str |
Consejo Nacional de Ciencia Tecnología e Innovación |
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CONCYTEC |
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CONCYTEC |
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CONCYTEC-Institucional |
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CONCYTEC-Institucional |
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Repositorio Institucional CONCYTEC |
| repository.mail.fl_str_mv |
repositorio@concytec.gob.pe |
| _version_ |
1839175779910418432 |
| spelling |
Publicationrp00571600rp00572600Cornejo-Arismendi V.A.Barrios-Aranibar D.2024-05-30T23:13:38Z2024-05-30T23:13:38Z2018978-1-5386-7761-2https://hdl.handle.net/20.500.12390/489https://doi.org/10.1109/LARS/SBR/WRE.2018.00081469159000006This work was supported by grant 234-2015-FONDECYT (Master Program) from Cienciactiva of the National Council for Science,Technology and Technological Innovation (CONCYTEC-PERU).The main way of displacement of a humanoid robot is by walking, humanoid robots have a basic architecture of 22 DOF which are the minimum necessary to replicate human movements. A motion capture system stores the information of a human being from static points in a human body, the data used will be cycles of gait of a human being. The proposed technique transforms the data of a capture system and transforms them into angles in an architecture of a humanoid robot of 22 DOF. For this purpose it uses key points of a capture system and makes a mapping from the torso to then proceed with its upper and lower limbs. Tests were performed on an author's own simulator and also on the V-REP simulator using the architecture of the Poopy robot. The results show a visually imperceptibly mathematical error in the simulator, but numerically measurable, that lies in the elimination of an axial axis located at the waist. Tests were performed with the data of a woman, a man and a child, being the woman who has the greatest error for having a more pronounced hip movement in the gait. This proposed research opens the door for future research that requires a mapping of a capture system to be replicated in a humanoid robot of 22 DOF, being its use very versatile and expandable to dynamic solutions of balance and tightness.Consejo Nacional de Ciencia, Tecnología e Innovación Tecnológica - ConcytecengIEEEinfo:eu-repo/semantics/openAccessSpatial pointsAnthropomorphic robots-1Architecture-1Architecture-1Mapping-1Simulators-1Capture system-1Dynamic solutions-1Human movements-1Humanoid robot-1Motion capture-1Motion capture system-1Motion capture system-1Robotics-1https://purl.org/pe-repo/ocde/ford#2.02.02-1A mapping approach for real time imitation of human movements by a 22 DOF humanoidinfo:eu-repo/semantics/conferenceObjectreponame:CONCYTEC-Institucionalinstname:Consejo Nacional de Ciencia Tecnología e Innovacióninstacron:CONCYTEC#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#20.500.12390/489oai:repositorio.concytec.gob.pe:20.500.12390/4892024-05-30 15:35:35.329http://purl.org/coar/access_right/c_14cbinfo:eu-repo/semantics/closedAccessmetadata only accesshttps://repositorio.concytec.gob.peRepositorio Institucional CONCYTECrepositorio@concytec.gob.pe#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="de61b548-ba99-48ec-8c2f-627043108455"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>A mapping approach for real time imitation of human movements by a 22 DOF humanoid</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2018</PublicationDate> <DOI>https://doi.org/10.1109/LARS/SBR/WRE.2018.00081</DOI> <ISI-Number>469159000006</ISI-Number> <ISBN>978-1-5386-7761-2</ISBN> <Authors> <Author> <DisplayName>Cornejo-Arismendi V.A.</DisplayName> <Person id="rp00571" /> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> <Author> <DisplayName>Barrios-Aranibar D.</DisplayName> <Person id="rp00572" /> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>IEEE</DisplayName> <OrgUnit /> </Publisher> </Publishers> <Keyword>Spatial points</Keyword> <Keyword>Anthropomorphic robots</Keyword> <Keyword>Architecture</Keyword> <Keyword>Architecture</Keyword> <Keyword>Mapping</Keyword> <Keyword>Simulators</Keyword> <Keyword>Capture system</Keyword> <Keyword>Dynamic solutions</Keyword> <Keyword>Human movements</Keyword> <Keyword>Humanoid robot</Keyword> <Keyword>Motion capture</Keyword> <Keyword>Motion capture system</Keyword> <Keyword>Motion capture system</Keyword> <Keyword>Robotics</Keyword> <Abstract>The main way of displacement of a humanoid robot is by walking, humanoid robots have a basic architecture of 22 DOF which are the minimum necessary to replicate human movements. A motion capture system stores the information of a human being from static points in a human body, the data used will be cycles of gait of a human being. The proposed technique transforms the data of a capture system and transforms them into angles in an architecture of a humanoid robot of 22 DOF. For this purpose it uses key points of a capture system and makes a mapping from the torso to then proceed with its upper and lower limbs. Tests were performed on an author's own simulator and also on the V-REP simulator using the architecture of the Poopy robot. The results show a visually imperceptibly mathematical error in the simulator, but numerically measurable, that lies in the elimination of an axial axis located at the waist. Tests were performed with the data of a woman, a man and a child, being the woman who has the greatest error for having a more pronounced hip movement in the gait. This proposed research opens the door for future research that requires a mapping of a capture system to be replicated in a humanoid robot of 22 DOF, being its use very versatile and expandable to dynamic solutions of balance and tightness.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication> -1 |
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13.210282 |
Nota importante:
La información contenida en este registro es de entera responsabilidad de la institución que gestiona el repositorio institucional donde esta contenido este documento o set de datos. El CONCYTEC no se hace responsable por los contenidos (publicaciones y/o datos) accesibles a través del Repositorio Nacional Digital de Ciencia, Tecnología e Innovación de Acceso Abierto (ALICIA).
La información contenida en este registro es de entera responsabilidad de la institución que gestiona el repositorio institucional donde esta contenido este documento o set de datos. El CONCYTEC no se hace responsable por los contenidos (publicaciones y/o datos) accesibles a través del Repositorio Nacional Digital de Ciencia, Tecnología e Innovación de Acceso Abierto (ALICIA).
