로봇학회논문지 (The Journal of Korea Robotics Society)
- 제2권2호
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- Pages.143-151
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- 2007
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
실감만남 공간에서의 비전 센서 기반의 사람-로봇간 운동 정보 전달에 관한 연구
Vision-based Human-Robot Motion Transfer in Tangible Meeting Space
초록
This paper deals with a tangible interface system that introduces robot as remote avatar. It is focused on a new method which makes a robot imitate human arm motions captured from a remote space. Our method is functionally divided into two parts: capturing human motion and adapting it to robot. In the capturing part, we especially propose a modified potential function of metaballs for the real-time performance and high accuracy. In the adapting part, we suggest a geometric scaling method for solving the structural difference between a human and a robot. With our method, we have implemented a tangible interface and showed its speed and accuracy test.