A general method for kinematic retargeting: Adapting poses between humans and robots

Tarik Tosun, Ross Mead, Robert Stengel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

This paper presents a method for kinematic retargeting that is general to a broad class of kinematic chains. Kinematic retargeting is the adaptation of a pose or motion from one kinematic embodiment to another. Our method distinguishes itself in its ability to adapt poses to new robots with very little configuration by the user. We accomplish this by defining two general metrics for retargeting and minimizing a cost function which is the weighted sum of these two metrics. This allows the method to automatically adapt poses between source and target chains that have different link lengths and degrees of freedom. These capabilities address a specific problem in Human-Robot Interaction (HRI), where behaviors are often defined in a robot-specific manner. The ability to automatically adapt behaviors from humans to new robots, and from one robot to another, will facilitate experimental repeatability. Through simulation and experiments, we demonstrate that our method is effective in adapting poses across chains with different numbers of joints, and in adapting socially expressive gestures from a human to two very different robots.

Original languageEnglish (US)
Title of host publicationDynamics, Vibration, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791846476
DOIs
StatePublished - Jan 1 2014
EventASME 2014 International Mechanical Engineering Congress and Exposition, IMECE 2014 - Montreal, Canada
Duration: Nov 14 2014Nov 20 2014

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume4A

Other

OtherASME 2014 International Mechanical Engineering Congress and Exposition, IMECE 2014
CountryCanada
CityMontreal
Period11/14/1411/20/14

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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    Tosun, T., Mead, R., & Stengel, R. (2014). A general method for kinematic retargeting: Adapting poses between humans and robots. In Dynamics, Vibration, and Control (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2014-37700