CHI '94 Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
A Kendama learning robot based on bi-directional theory
Neural Networks - 1996 Special issue: four major hypotheses in neuroscience
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Retargetting motion to new characters
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Robot Learning From Demonstration
ICML '97 Proceedings of the Fourteenth International Conference on Machine Learning
Toward a dynamical pick and place
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Presence: Teleoperators and Virtual Environments
Eyecatch: simulating visuomotor coordination for object interception
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Estimating the non-linear dynamics of free-flying objects
Robotics and Autonomous Systems
Design and development of an effective ball catching robotic arm with 3DOF
Proceedings of the Second International Conference on Computational Science, Engineering and Information Technology
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Our focus is on creating interesting and human-like behaviors for humanoid robots and virtual characters. Interactive behaviors are especially engaging. They are also challenging, as they necessitate finding satisfactory realtime solutions for complex systems such as the 30-degree-of-freedom humanoid robot in our laboratory. Here we describe a catching behavior between a person and a robot. We generate ball-hand impact predictions based on the flight of the ball, and human-like motion trajectories to move the hand to the catch position. We use a dynamical systems approach to produce the motion trajectories where new movements are generated from motion primitives as they are needed.