Robot Reality - A motion capture system that makes robots become human and vice versa

Schulz S, Lier F, Lütkebohle I, Wachsmuth S (2013)
In: International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany: 2126-2133.

Conference Paper | Published | English

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Abstract
A key issue for interactive robots is smooth and natural motion. When robots are tele-operated, e.g. for tele­ presence or during "Wizard of Oz" style studies, this requires an intuitive and responsive control interface. Furthermore, this interface should not interfere with perceiving the robot's sensors. In this work we will present a system that allows a human operator to control an anthropomorphic robotic head by wearing a combined motion capture and display helmet. It allows the direct and live transfer of human facial expressions, gaze and head movements to a humanoid robotic head, and at the same time displays the scene as perceived by the robot's vision sensors. Beside direct control, the system can also record human motion datasets for analysis or later playback. Furthermore, the presented system is cost-effective, and relies to a large extent on commercially available off-the-shelf products. The remaining parts and software are made freely available for research use.
Publishing Year
Conference
IEEE International Conference on Robotics and Automation (ICRA) 2013
Location
Karlsruhe, Germany
Conference Date
2013-05-06 – 2013-05-10
ISSN
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Cite this

Schulz S, Lier F, Lütkebohle I, Wachsmuth S. Robot Reality - A motion capture system that makes robots become human and vice versa. In: International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany; 2013: 2126-2133.
Schulz, S., Lier, F., Lütkebohle, I., & Wachsmuth, S. (2013). Robot Reality - A motion capture system that makes robots become human and vice versa. International Conference on Robotics and Automation (ICRA), 2126-2133.
Schulz, S., Lier, F., Lütkebohle, I., and Wachsmuth, S. (2013). “Robot Reality - A motion capture system that makes robots become human and vice versa” in International Conference on Robotics and Automation (ICRA) (Karlsruhe, Germany), 2126-2133.
Schulz, S., et al., 2013. Robot Reality - A motion capture system that makes robots become human and vice versa. In International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, pp. 2126-2133.
S. Schulz, et al., “Robot Reality - A motion capture system that makes robots become human and vice versa”, International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany: 2013, pp.2126-2133.
Schulz, S., Lier, F., Lütkebohle, I., Wachsmuth, S.: Robot Reality - A motion capture system that makes robots become human and vice versa. International Conference on Robotics and Automation (ICRA). p. 2126-2133. Karlsruhe, Germany (2013).
Schulz, Simon, Lier, Florian, Lütkebohle, Ingo, and Wachsmuth, Sven. “Robot Reality - A motion capture system that makes robots become human and vice versa”. International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, 2013. 2126-2133.
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