Planning of joint trajectories for humanoid robots using B-spline wavelets. Ude, A., Atkeson, C. G., & Riley, M. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), volume 3, pages 2223–2228 vol.3, April, 2000.
doi  abstract   bibtex   
The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots' kinematics. We exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of a humanoid robot. We utilize B-spline wavelets to efficiently represent the joint trajectories and to automatically select the density of the basis functions on the time axis. We applied our method to the task of teaching a humanoid robot how to make a dance movement.
@inproceedings{ude_planning_2000,
	title = {Planning of joint trajectories for humanoid robots using {B}-spline wavelets},
	volume = {3},
	doi = {10.1109/ROBOT.2000.846358},
	abstract = {The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots' kinematics. We exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of a humanoid robot. We utilize B-spline wavelets to efficiently represent the joint trajectories and to automatically select the density of the basis functions on the time axis. We applied our method to the task of teaching a humanoid robot how to make a dance movement.},
	booktitle = {Proceedings 2000 {ICRA}. {Millennium} {Conference}. {IEEE} {International} {Conference} on {Robotics} and {Automation}. {Symposia} {Proceedings} ({Cat}. {No}.00CH37065)},
	author = {Ude, A. and Atkeson, C. G. and Riley, M.},
	month = apr,
	year = {2000},
	keywords = {B-spline wavelets, Education, Humanoid robots, Humans, Jacobian matrices, Joints, Kinematics, Manipulators, Optical devices, Robotics and automation, Spline, Trajectory, basis functions, computer graphics, dance movement, finite element analysis, high dimensional trajectory, human motion information, human movements, humanoid robots, joint trajectories planning, legged locomotion, optical tracking device, optimisation, path planning, robot kinematics, robot programming, splines (mathematics), teaching, wavelet transforms},
	pages = {2223--2228 vol.3}
}

Downloads: 0