Robotics: Science and Systems XVI
Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space
Sungjoon Choi, Matthew Pan, Joohyung KimAbstract:
In this work, we present a semi-supervised learning method to transfer human motion data to humanoid robots with varying kinematic configurations while avoiding self-collisions.To this end, we propose a data-driven motion retargeting named locally weighted latent learning which possesses the benefits of both nonparametric regression and deep latent variable modeling.The method can leverage both paired and domain-specific datasets and can maintain robot motion feasibility owing to the nonparametric regression and graph-based heuristics it uses. The proposed method is evaluated using two different humanoid robots,the Robotis ThorMang and COMAN, in simulation environments with diverse motion capture datasets. Furthermore, online puppeteering of a real humanoid robot is implemented.
Bibtex:
@INPROCEEDINGS{Choi-RSS-20, AUTHOR = {Sungjoon Choi AND Matthew Pan AND Joohyung Kim}, TITLE = {{Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space}}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2020}, ADDRESS = {Corvalis, Oregon, USA}, MONTH = {July}, DOI = {10.15607/RSS.2020.XVI.071} }