Publicación:
A mapping approach for real time imitation of human movements by a 22 DOF humanoid
A mapping approach for real time imitation of human movements by a 22 DOF humanoid
| dc.contributor.author | Cornejo-Arismendi V.A. | es_PE |
| dc.contributor.author | Barrios-Aranibar D. | es_PE |
| dc.date.accessioned | 2024-05-30T23:13:38Z | |
| dc.date.available | 2024-05-30T23:13:38Z | |
| dc.date.issued | 2018 | |
| dc.description | This work was supported by grant 234-2015-FONDECYT (Master Program) from Cienciactiva of the National Council for Science,Technology and Technological Innovation (CONCYTEC-PERU). | |
| dc.description.abstract | The main way of displacement of a humanoid robot is by walking, humanoid robots have a basic architecture of 22 DOF which are the minimum necessary to replicate human movements. A motion capture system stores the information of a human being from static points in a human body, the data used will be cycles of gait of a human being. The proposed technique transforms the data of a capture system and transforms them into angles in an architecture of a humanoid robot of 22 DOF. For this purpose it uses key points of a capture system and makes a mapping from the torso to then proceed with its upper and lower limbs. Tests were performed on an author's own simulator and also on the V-REP simulator using the architecture of the Poopy robot. The results show a visually imperceptibly mathematical error in the simulator, but numerically measurable, that lies in the elimination of an axial axis located at the waist. Tests were performed with the data of a woman, a man and a child, being the woman who has the greatest error for having a more pronounced hip movement in the gait. This proposed research opens the door for future research that requires a mapping of a capture system to be replicated in a humanoid robot of 22 DOF, being its use very versatile and expandable to dynamic solutions of balance and tightness. | |
| dc.description.sponsorship | Consejo Nacional de Ciencia, Tecnología e Innovación Tecnológica - Concytec | |
| dc.identifier.doi | https://doi.org/10.1109/LARS/SBR/WRE.2018.00081 | |
| dc.identifier.isbn | 978-1-5386-7761-2 | |
| dc.identifier.isi | 469159000006 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12390/489 | |
| dc.language.iso | eng | |
| dc.publisher | IEEE | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.subject | Spatial points | |
| dc.subject | Anthropomorphic robots | es_PE |
| dc.subject | Architecture | es_PE |
| dc.subject | Mapping | es_PE |
| dc.subject | Simulators | es_PE |
| dc.subject | Capture system | es_PE |
| dc.subject | Dynamic solutions | es_PE |
| dc.subject | Human movements | es_PE |
| dc.subject | Humanoid robot | es_PE |
| dc.subject | Motion capture | es_PE |
| dc.subject | Motion capture system | es_PE |
| dc.subject | Robotics | es_PE |
| dc.subject.ocde | https://purl.org/pe-repo/ocde/ford#2.02.02 | |
| dc.title | A mapping approach for real time imitation of human movements by a 22 DOF humanoid | |
| dc.type | info:eu-repo/semantics/conferenceObject | |
| dspace.entity.type | Publication | |
| oairecerif.author.affiliation | #PLACEHOLDER_PARENT_METADATA_VALUE# | |
| oairecerif.author.affiliation | #PLACEHOLDER_PARENT_METADATA_VALUE# | |
| oairecerif.author.affiliation | #PLACEHOLDER_PARENT_METADATA_VALUE# |