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GVU Technical Report Series

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Author: Atkeson, Christopher G. × Start date: 1994 × search.filters.applied.f.resourcesubtype: Technical Report ×

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Now showing 1 - 7 of 7
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Planning of joint trajectories for humanoid robots using B-spline wavelets

2000 , Ude, Ales , Atkeson, Christopher G. , Riley, Marcia

The formulation and optimization of joint trajectories for humanoid robots is quite different form this same task for standard robots because of the complexity of the humanoid robots' kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of a humanoid robot. We utilize B-spline wavelets to efficiently represent the joint trajectories and to automatically select the density of the basis functions on the time axis. We applied our method to the task of teaching a humanoid robot how to make a dance movement.

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Robot Catching

2000 , Riley, Marcia , Atkeson, Christopher G.

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.

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Can Electronic Notebooks Enhance the Classroom?

1996 , Sawhney, Nitin (Nick) , Abowd, Gregory D. , Atkeson, Christopher G.

We are interested in prototyping future computing environments that will enhance the classroom experience and empower both teacher and student. In this paper, we describe the Classroom 2000 project at Georgia Tech which is integrating personal and group pen-based technology, audio services and the World-Wide Web to record in-class interactions for later review.

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Methods for Motion Generation and Interaction with a Humanoid Robot: Case Studies of Dancing and Catching

2000 , Riley, Marcia , Ude, Ales , Atkeson, Christopher G.

We focus on creating realistic, adaptable movement for humanoid robots and virtual characters. Here we present motion synthesis of dance movements for a humanoid robot, and interactive behavior for catching. Our approach to motion generation includes collection of example human movements, handling of marker occlusion, extraction of motion parameters, and trajectory generation, all of which must be handled in such a way as to be faithful to the style of the original movements. In our interactive behavior, we generate ball-glove impact predictions and intercept motion trajectories for a real time catching task. In this paper we present our results and discuss ideas for future improvements.

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Cyberguide: A Mobile Context-Aware Tour Guide

1996 , Abowd, Gregory D. , Atkeson, Christopher G. , Hong, Jason I. , Long, Sue , Kooper, Rob , Pinkerton, Michael David

Future computing environments will free the user from the constraints of the desktop. Applications for a mobile environment should take advantage of contextual information, such as position, to offer greater services to the user. In this paper, we present the Cyberguide project, in which we are building prototypes of a mobile context-aware tour guide. Knowledge of the user's current location, as well as a history of past locations, are used to provide more of the kind of services that we come to expect from a real tour guide. We describe the architecture and features of a variety of Cyberguide prototypes developed for indoor and outdoor use on a number of different hand-held platforms. We also discuss the general research issues that have emerged in our context-aware applications development in a mobile environment.

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Automatic Generation of Kinematic Models for the Conversion of Human Motion Capture Data into Humanoid Robot Motion

2000 , Ude, Ales , Man, Curtis , Riley, Marcia , Atkeson, Christopher G.

Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic model is constructed directly from the motion capture data without manual measurements. We discuss the use of the resulting kinematic model for the generation of humanoid robot motions based on teh observed human motions. The results of the proposed technique on real human motion capture data are presented.

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Classroom 2000: Enhancing Classroom Interaction and Review

1996 , Abowd, Gregory D. , Atkeson, Christopher G. , Feinstein, Ami , Goolamabbas, Yusef , Hmelo, Cindy E. , Register, Scott Walker , Sawhney, Nitin (Nick) , Tani, Mikiya

The classroom is a site for rich CSCW activities. We are interested in prototyping future computing environments that will enhance the classroom experience and empower both student and teacher. In this paper, we describe the Classroom 2000 project at Georgia Tech, which is integrating pen-based technology, audio services and the World-Wide Web to support the capture of in-class activity for later review and to enhance group interactions. We describe the prototype classroom system and the results of an experiment using this technology in a lecture-based course.

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