Functional Anthropomorphism for human to robot motion mapping

Minas V. Liarokapis, Panagiotis Artemiadis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

In this paper we propose a generic methodology for human to robot motion mapping for the case of a robotic arm hand system, allowing anthropomorphism. For doing so we discriminate between Functional Anthropomorphism and Perceptional Anthropomorphism, focusing on the first to achieve anthropomorphic solutions of the inverse kinematics for a redundant robot arm. Regarding hand motion mapping, a wrist (end-effector) offset to compensate for differences between human and robot hand dimensions is applied and the fingertips mapping methodology is used. Two different mapping scenarios are also examined: mapping for teleoperation and mapping for autonomous operation. The proposed methodology can be applied to a variety of human robot interaction applications, that require a special focus on anthropomorphism.

Original languageEnglish (US)
Title of host publication2012 IEEE RO-MAN
Subtitle of host publicationThe 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages31-36
Number of pages6
DOIs
StatePublished - Dec 14 2012
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
Duration: Sep 9 2012Sep 13 2012

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
CountryFrance
CityParis
Period9/9/129/13/12

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Keywords

  • Functional Anthropomorphism
  • Inverse Kinematics
  • Mapping Human to Robot Motion

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Liarokapis, M. V., Artemiadis, P., & Kyriakopoulos, K. J. (2012). Functional Anthropomorphism for human to robot motion mapping. In 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication (pp. 31-36). [6343727] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2012.6343727