Functional Anthropomorphism for human to robot motion mapping

Minas V. Liarokapis; Panagiotis K. Artemiadis; Kostas J. Kyriakopoulos

doi:10.1109/ROMAN.2012.6343727

Functional Anthropomorphism for human to robot motion mapping

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

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English (US)
Title of host publication	2012 IEEE RO-MAN
Subtitle of host publication	The 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages	31-36
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2012.6343727
State	Published - 2012
Event	2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France Duration: Sep 9 2012 → Sep 13 2012

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference	2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Country/Territory	France
City	Paris
Period	9/9/12 → 9/13/12

Keywords

Functional Anthropomorphism
Inverse Kinematics
Mapping Human to Robot Motion

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROMAN.2012.6343727

Cite this

Liarokapis, M. V., Artemiadis, P. K., & 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). Article 6343727 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2012.6343727

Functional Anthropomorphism for human to robot motion mapping. / Liarokapis, Minas V.; Artemiadis, Panagiotis K.; Kyriakopoulos, Kostas J.
2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. 2012. p. 31-36 6343727 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Liarokapis, MV, Artemiadis, PK & Kyriakopoulos, KJ 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., 6343727, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 31-36, 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012, Paris, France, 9/9/12. https://doi.org/10.1109/ROMAN.2012.6343727

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AB - 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.

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Functional Anthropomorphism for human to robot motion mapping

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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