期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：129
DOI：10.5772/52451
语种：English
出版社：SAGE Publications
摘要：In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in robot programming. An algorithm for transferring human motion to a robot and creating editable motions is presented to improve the reusability of the demonstrated motions. For generating various motions from a limited number of demonstrations, two motion models are presented and diverse motions are generated from the motion models. A humanoid robot, AMIO, is used to validate the proposed motion generation framework.
关键词：Motion Generation; Humanoid Robots; Programming by Demonstration; Human-Robot Interaction
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