OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Modeling of human movement for the generation of humanoid robot motion

Narsipura Sreenivasa, Manish. Modeling of human movement for the generation of humanoid robot motion. PhD, Institut National Polytechnique de Toulouse, 2010

[img]
Preview
(Document in English)

PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
4MB

Official URL: http://ethesis.inp-toulouse.fr/archive/00001284/

Abstract

Humanoid robotics is coming of age with faster and more agile robots. To compliment the physical complexity of humanoid robots, the robotics algorithms being developed to derive their motion have also become progressively complex. The work in this thesis spans across two research fields, human neuroscience and humanoid robotics, and brings some ideas from the former to aid the latter. By exploring the anthropological link between the structure of a human and that of a humanoid robot we aim to guide conventional robotics methods like local optimization and task-based inverse kinematics towards more realistic human-like solutions. First, we look at dynamic manipulation of human hand trajectories while playing with a yoyo. By recording human yoyo playing, we identify the control scheme used as well as a detailed dynamic model of the hand-yoyo system. Using optimization this model is then used to implement stable yoyo-playing within the kinematic and dynamic limits of the humanoid HRP-2. The thesis then extends its focus to human and humanoid locomotion. We take inspiration from human neuroscience research on the role of the head in human walking and implement a humanoid robotics analogy to this. By allowing a user to steer the head of a humanoid, we develop a control method to generate deliberative whole-body humanoid motion including stepping, purely as a consequence of the head movement. This idea of understanding locomotion as a consequence of reaching a goal is extended in the final study where we look at human motion in more detail. Here, we aim to draw to a link between “invariants” in neuroscience and “kinematic tasks” in humanoid robotics. We record and extract stereotypical characteristics of human movements during a walking and grasping task. These results are then normalized and generalized such that they can be regenerated for other anthropomorphic figures with different kinematic limits than that of humans. The final experiments show a generalized stack of tasks that can generate realistic walking and grasping motion for the humanoid HRP-2. The general contribution of this thesis is in showing that while motion planning for humanoid robots can be tackled by classical methods of robotics, the production of realistic movements necessitate the combination of these methods with the systematic and formal observation of human behavior.

Item Type:PhD Thesis
Uncontrolled Keywords:
Institution: Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
Laboratory name:
Research Director:
Souères, Philippe and Laumond, Jean-Paul
Statistics:download
Deposited By: admin admin

Repository Staff Only: item control page