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Motion control of a virtual humanoid that can perform real physical interactions with a human

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6 Author(s)
Nagasaka, K. ; Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo ; Miyamoto, A. ; Nagano, M. ; Shirado, H.
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This paper proposes a multi-objective, highly generalized and efficient control framework for a virtual character performing various physical interactions in a dynamically simulated world. The framework comprises 1) a generalized inverse dynamics that determines joint forces satisfying multiple objectives considering priorities, unactuated joints and inequality constraints about contacts, 2) a generalized stabilizer available in various contact situations based on the long-term momentum stabilization and 3) a motion primitive network for realizing composite motions by modularizing and interconnecting motion functions. By applying the proposed framework, various interactions with a virtual humanoid, such as basic reflections and carrying objects, are realized in real time with a tactile sensation through the two-armed multi-fingered haptic device we developed.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008