Synchronized Human-Humanoid Motion Imitation

Antonin Dallard; Mehdi Benallegue; Fumio Kanehiro; Abderrahmane Kheddar

RA-L 202321 citations

Synchronized Human-Humanoid Motion Imitation

Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar

Abstract

We present a tele-operation control framework that (i) enhances the upper motion synchrony between a user and a robot using the minimum-jerk model coupled with a recursive least-square filter, and (ii) synchronizes the walking pace by predicting user's stepping frequency using motion capture data and a deep learning model. By integrating (i) and (ii) in a task-space whole-body controller, we achieve full-body synchronization. We assess our humanoid-to-human whole-body synchronized motion model on the HRP-4 humanoid robot in forward, lateral and backward walks with concurrent upper limbs motions experiments.

BibTeX

@inproceedings{ral2023_synchronizedhuma,
  title = {Synchronized Human-Humanoid Motion Imitation},
  author = {Antonin Dallard and Mehdi Benallegue and Fumio Kanehiro and Abderrahmane Kheddar},
  booktitle = {RA-L 2023},
  year = {2023}
}