TY - JOUR
T1 - Reaching and pointing gestures calculated by a generic gesture system for social robots
AU - Van De Perre, Greet
AU - De Beir, Albert
AU - Cao, Hoang-Long
AU - Gomez Esteban, Pablo
AU - Lefeber, Dirk
AU - Vanderborght, Bram
PY - 2016/9/1
Y1 - 2016/9/1
N2 - Since the implementation of gestures for a certain robot generally involves the use of specific information about its morphology, these gestures are not easily transferable to other robots. To cope with this problem, we proposed a generic method to generate gestures, constructed independently of any configuration and therefore useable for different robots. In this paper, we discuss the novel end-effector mode of the method, which can be used to calculate gestures whereby the position of the end-effector is important, for example for reaching for or pointing towards an object. The interesting and innovative feature of our method is its high degree of flexibility in both the possible configurations wherefore the method can be used, as in the gestures to be calculated. The method was validated on several configurations, including those of the robots ASIMO, NAO and Justin. In this paper, the working principles of the end-effector mode are discussed and a number of results are presented.
AB - Since the implementation of gestures for a certain robot generally involves the use of specific information about its morphology, these gestures are not easily transferable to other robots. To cope with this problem, we proposed a generic method to generate gestures, constructed independently of any configuration and therefore useable for different robots. In this paper, we discuss the novel end-effector mode of the method, which can be used to calculate gestures whereby the position of the end-effector is important, for example for reaching for or pointing towards an object. The interesting and innovative feature of our method is its high degree of flexibility in both the possible configurations wherefore the method can be used, as in the gestures to be calculated. The method was validated on several configurations, including those of the robots ASIMO, NAO and Justin. In this paper, the working principles of the end-effector mode are discussed and a number of results are presented.
U2 - 10.1016/j.robot.2016.06.006
DO - 10.1016/j.robot.2016.06.006
M3 - Article
VL - 83
SP - 32
EP - 43
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
SN - 0921-8890
ER -