Journal of information and communication convergence engineering

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
권호 표지
DOI QR코드

DOI QR Code

Automatic Motion Generation from the Posture Template

  • Lee, Chang-Mug (Department of Computer Science Engineering, Korea University of Technology and Education) ;
  • Kwon, Oh-Young (School of Computer Science Engineering, Korea University of Technology and Education) ;
  • Seok, Kwang-Ho (Department of Information Media Engineering, Korea University of Technology and Education) ;
  • Kim, Yoon-Sang (School of Computer Science Engineering, Korea University of Technology and Education)
  • Received : 2010.02.22
  • Accepted : 2010.03.31
  • Published : 2010.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents automatic generation of robot motion using posture template in physical training system. In this system, we define a human-like generic template with two angles, then, we generate robot motion that has used angle data of the created template. The angle data is transformed automatically to the most similar motion. This is achieved by suitable expressions for robot specification. The expressions intend to differences of angle measurement on X,Y,Z planes and DOF constraint. We choose several postures and create generic templates for chosen postures. Robot motions are also generated from generic templates by expressions.

Keywords

References

  1. Duckki Lee, Tatsuya Yamazaki, Sumi Helal, "Robotic Companions for Smart Space Interactions", IEEE Pervasive Computing, vol.8, no.2, pp.78-84, Apr-June 2009.
  2. Kim, H., Cho, Y.-J., Oh, S.-R, "CAMUS:A middleware supporting context-aware services for network-based robots", IEEE Workshop on Advanced Robotics and Its Social Impacts, Nagoya, Japan, 2005.
  3. H.G. Barrow, J.M. Tenenbaum, R.C, and H.C. Wolf, "Parametric correspondence and chamfer matching" "Two new techniques for image matching" Proc, 5th Int, Joint Conf. Artifi, Intelli, Cambridge, MA, pp.659-663, 1977.
  4. G. Borgefors, "Hierarchical chamfer matching: a parametric edge matching algorithm," IEEE Trans. Pattern Analy. and Mach. Intelli., vol.10, no.6, pp. 849-865, 1988. https://doi.org/10.1109/34.9107
  5. Chang-Mug Lee, Oh-Young Kwon, "Posture Recognition for Physical Training System with Adjusted Edge Template", The 31th KIPS Spring Conference 2009, pp.110-113.
  6. Chang-Mug Lee, Kwang-Ho Seok, Yoon Sang Kim, Oh-Young Kwon, "Automatic Motion Creating from the Posture Template for the Robot Physical Training System", ICHIT 2009, pp.193-199.
  7. Speecys corp, http://www.speecys.com