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Exemplar-based primitives for humanoid movement classification and control
Drumwright, E.; Jenkins, O.C.; Mataric, M.J.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 1,
2004
Page(s):140
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145 Vol.1
Abstract:
We present a unified methodology for humanoid robot control and activity, classification using motor primitives (Mataric, M, 2002), computationally efficient behaviors capable of perception and control. These primitives constitute a vocabulary for humanoid control capable of generating a large variety of complex movement through sequencing and superposition. We demonstrate how such primitives can be automatically derived from human motion-capture data, how they can be used to construct upperbody controllers, and how they can be applied to classification of observed humanoid behavior in real time.
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