Modeling of graceful motions: determining characteristics of graceful motions from handover motion

Autores: T. Tanaka, T. Tsuduki, Etsuko Ueda, K. Takemura, T. Nakamura
Localización: Computational methods and experimental measurements / G. M. Carlomagno (ed. lit.), Carlos A. Brebbia (ed. lit.) , Santiago Hernández (ed. lit.) , 2013, ISBN 978-1-84564-732-2, págs. 453-463
Idioma: inglés
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Resumen
- Since robots in the welfare and service industries make contact with humans, they have to produce favourable impressions in the human mind. This study proposes graceful motions of humans and aims to quantify it to make robot motions more favourable. We have focused on the handover motion of a glass and selected waiters as subjects. Their motions were recorded as trajectories by motion capture system and evaluated by observers. The result revealed that the motions of them produce favourable and graceful impressions. The trajectory was projected on a two-dimensional plane surface that was obtained by conducting principal component analysis. The projected trajectory was calculated by fitting extracted as parameters of spline curves and graceful motions are characterized by S-shaped trajectories. After that, 4 motions were created using 3DCG by changing extracted parameters step by step to verify which parameters provide graceful impressions through simulations. Finally, the parameters that produce graceful and favourable impressions were determined.