Interaction Mesh Based Motion Adaptation for Biped Humanoid Robots

Shin’ichiro NakaokaAIST

Target MotionsTarget Motions

Example of Car Riding MotionsExample of Car Riding Motions

Interaction Mesh (Ho et al. 2010)Interaction Mesh (Ho et al. 2010)

System OverviewSystem Overview

Marker Position Space Joint Angle Space

Interaction Mesh

Interaction Mesh

Interaction Mesh

ZMPConstraint

ZMPConstraint

Joint AngleConstraintsJoint AngleConstraints

Joint VelocityConstraints

Joint VelocityConstraints

Taku KomuraThe University of Edinburgh

Joints in close proximity are connected by edges

Performance withGiven Robots and

Environment

Movements that involve close interactions

Body parts Body and environmentMulti bodies

L(pj)

Laplacian coordinate

Laplacian deformation energy

Marker Model Arrangement Foot ContactConstraints

Marker-Space Adaptation

Original Robot Model Arranged

Joint Angle Fitting

Joint-Space Adaptation

HumanMotions

OutputInput

AdaptationMotionTemplates

• Joint model and DOF• Dynamic body balance• Joint angle range• Joint angular velocity limits

The system adapts given motions to a target robot’s

while preserving the spatial relationships between the body parts / body parts and the environment

Minimize