Files

00-23.pdf (3.54 MB)

Author(s)

Riley, Marcia
Atkeson, Christopher G.

Authors

Advisor(s)

Advisor(s)

Editor(s)

Associated Organization(s)

Organizational Unit

GVU Center

Series

Series

GVU Technical Report Series

Collections

Research Publications

Supplementary to

Permanent Link

http://hdl.handle.net/1853/3432

Abstract

Our focus is on creating interesting, ralistic behaviors for humanoid robots and virtual charaters. Among the methods we use to create human-like movements are a template-based approach, where example movements from humans are stored for later use, and a dynamical systems approach where new movements are generated from motion primitives as they are needed. Here we discuss a dynamical systems approach for implementing ball catching for a 30-degree-of-freedom humanoid robot. In our catching task, we generate ball-hand impact predictions and human-like motion trajectories to move the hand to the impact position. We also discuss what is necessary to use a template-based approach to generate behaviors.

Sponsor

Date Issued

2000

Extent

3713225 bytes

Resource Type

Text

Resource Subtype

Technical Report

Rights Statement

Rights URI