Leg Task Models for Reproducing Human Dance Motions on Biped Humanoid Robots

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  • Nakaoka Shinichiro
    Graduate School of Information Science and Technology, The University of Tokyo
  • Nakazawa Atsushi
    Cybermedia Center, Osaka University
  • Kanehiro Fumio
    Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology
  • Kaneko Kenji
    Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology
  • Morisawa Mitsuharu
    Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology
  • Hirukawa Hirohisa
    Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology
  • Ikeuchi Katsushi
    Institute of Industrial Science, The University of Tokyo

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Other Title
  • 脚タスクモデルを用いた２足歩行ヒューマノイドロボットによる人の舞踊動作の再現
  • キャク タスク モデル オ モチイタ 2ソク ホコウ ヒューマノイド ロボット ニ ヨル ヒト ノ ブヨウ ドウサ ノ サイゲン

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Abstract

In this paper, we propose a method that enables a biped humanoid robot to reproduce human dance motions with its whole body. Our method is based on the paradigm ofLearning from Observation. In this study, a robot uses its own legs to support the body during a dance performance. We proposeleg task models, which can solve the problems caused by severe constraints in adapting human motions to the legs of a robot. First, elements of the leg task models are recognized from motion data captured from human performances. Then motion data of a robot is regenerated from the recognized elements so that the motion is stably executable on the robot. Our method was verified by experiments on a humanoid robotHRP-2using a traditional folk dance. HRP-2 successfully performed dance motions that were automatically reproduced from motion data captured from human dance performances.

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