Real-Time Mimicking of Human Body Motion by a Humanoid Robot

摘要

In this paper we present a humanoid robot system that is able to mimic the motion of a person. The system performs mimicking, using real-time stereo vision. Our discussion will focus on the detection and motion inferencing of the action of a person, and the simultaneous reproduction of the same motion on a humanoid robot. Our attempt, is to remove from the conventional view, that the use of a full model is required -- rather we take a simpler approach in providing an integrated system. Our presentation includes experimental results of our humanoid robot, mimicking while tracking a person in an unmodified everyday environment.