Generating human-like soccer primitives from human data

  • Authors:

  • Carlos A. Acosta Calderon;Rajesh E. Mohan;Lingyun Hu;Changjiu Zhou;Huosheng Hu

  • Affiliations:

  • School of Electrical and Electronic Engineering, Singapore Polytechnic, 139651, Singapore;School of Electrical and Electronic Engineering, Singapore Polytechnic, 139651, Singapore;School of Electrical and Electronic Engineering, Singapore Polytechnic, 139651, Singapore;School of Electrical and Electronic Engineering, Singapore Polytechnic, 139651, Singapore;School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, CO4 3SQ, UK

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2009

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Abstract

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to generate two human-like motions, walking and kicking, for a biped robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In a similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently. The simulation results show that faster and more accurate searching can be achieved to generate an efficient human-like gait. Comparison is made with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League.