Teleoperation of a humanoid robot using full-body motion capture, example movements, and machine learning

    Research output: Chapter in Book / Conference PaperConference Paperpeer-review

    98 Citations (Scopus)

    Abstract

    In this paper we present and evaluate a novel method for teleoperating a humanoid robot via a full-body motion capture suit. Our method does not use any a priori analytical or mathematical modeling (e.g. forward or inverse kinematics) of the robot, and thus this approach could be applied to the calibration of any human-robot pairing, regardless of differences in physical embodiment. Our approach involves training a feed-forward neural network for each DOF on the robot to learn a map- ping between sensor data from the motion capture suit and the angular position of the robot actuator to which each neural network is allocated. To collect data for the learning process, the robot leads the human operator through a series of paired synchronised movements which capture both the operator's motion capture data and the robot's actuator data. Particle swarm optimisation is then used to train each of the neural networks. The results of our experiments demonstrate that this approach provides a fast, effective and flexible method for teleoperation of a humanoid robot.
    Original languageEnglish
    Title of host publicationProceedings of Australasian Conference on Robotics and Automation: 3-5 Dec 2012, Victoria University of Wellington, New Zealand
    PublisherAustralian Robotics and Automation Association
    Number of pages10
    ISBN (Print)9780980740431
    Publication statusPublished - 2012
    EventAustralasian Conference on Robotics and Automation -
    Duration: 3 Dec 2012 → …

    Publication series

    Name
    ISSN (Print)1448-2053

    Conference

    ConferenceAustralasian Conference on Robotics and Automation
    Period3/12/12 → …

    Keywords

    • androids
    • full-body motion capture
    • machine learning
    • neural networks
    • particle swarm optimization
    • robotics
    • robots
    • teleoperation

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