Skip to main content
Article thumbnail
Location of Repository

Enabling real-time full body imitation: A natural way of transferring human movements to humanoids

By Marcia Riley, Ales Ude, Keegan Wade and Christopher G. Atkeson


We seek intuitive, e cient ways to create and direct human-like behaviors for humanoid robots. Here we present a method to enable humanoid robots to acquire movements by imitation. The robot uses 3D vision to perceive themovements of a human teacher, and then estimates the teacher's body postures using a fast full-body inverse kinematics method that incorporates a kinematic model of the teacher. This solution is then mapped to the robot and reproduced in realtime. The robustness of the method is tested on a 30-degree-of-freedom Sarcos humanoid robot located at ATR using 3D vision data from external cameras and from head-mounted cameras.

Year: 2003
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • (external link)
  • (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.