Reaching and pointing gestures calculated by a generic gesture system for social robots
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- 作者：Greet Van de Perre ; Greet.Van.de.Perre@vub.ac.be" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Albert De BeirAuthor Vitae ; Hoang-Long CaoAuthor Vitae ; Pablo Gó ; mez EstebanAuthor Vitae ; Dirk LefeberAuthor Vitae ; Bram VanderborghtAuthor Vitae
- 关键词：Generic gesture system ; Pointing ; Gestures ; Upper body postures
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：September 2016
- 年：2016
- 卷：83
- 期：Complete
- 页码：32-43
- 全文大小：3144 K
文摘
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The proposed method can be used to generate gestures for an arbitrary social robot.
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This paper focuses on how reaching and pointing gestures are calculated.
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DH-parameters, orientation of the base frames and joint limits are used as input.
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Joint angles are calculated using IK with a cost-function for natural postures.
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The method was validated on several robots, including NAO, Justin and ASIMO.