Natural Teaching on a Life-sized Humanoid
Published:
Traditional teaching methods are faced up with multiple difficulties. For example, they always neglect the transmission of semantic information and the relation between different sensory information. Hence a novel natural teaching paradigm based on scene-motion cross-modal perception is proposed. Natural teaching is actually a branch of human-robot interaction (HRI) technology, representing a kind of teaching paradigm which is user-friendly and coordinates human and robot in scene comprehension. Fig.1 shows the setup of the life-sized humanoid. Fig.2 and Fig.3 presents the scene-motion perception framework and the control scheme, respectively.
Fig.1 Setup of the Life-sized Humanoid. Real Robot (left) and 3D Model (Right)
Fig.2 Scene-motion Perception Framework
Fig.3 Control Scheme of Motion Imitation
With the proposed paradigm, experimentation was performed on the humanoid to verify its oustanding characteristics, including being real-time, high-accuracy, repeatability and dexterity. Fig.4 shows one of the experiments. Fig.5 displays the the human motion imitation on the humanoid.
Fig.4 Approaching an Inclined Flange
Fig.5 Human Motion Imitation on the Humanoid (The rotational directions of left arms are opposite...)
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