Motion capture from demonstrator's viewpoint and its application to robot teaching

Authors:
Yasuyoshi Yokokohji;Yuki Kitaoka;Tsuneo Yoshikawa
Affiliations:
Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan;Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan;Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan
Venue:
Journal of Robotic Systems
Year:
2005

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Abstract

In this paper, we propose a kind of “teaching by demonstration” method, aiming at its application to humanoid robots at home in the future. The demonstrator's motion is captured by a pair of stereo cameras mounted on his/her head, locating very close to his/her eyes. By tracking the landmarks attached to the demonstrator's hand and the working environment, one can estimate not only the demonstrator's hand motion but also his/her head motion, which can be used for the active vision system. Experimental result shows the effectiveness of the proposed framework. © 2005 Wiley Periodicals, Inc.