Frijns, H. A., Stoeva, D., Schürer, O., & Gelautz, M. (2024). Programming Robot Animation Through Human Body Movement. In 2024 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 273–279). IEEE. https://doi.org/10.1109/ARSO60199.2024.10557907
The aim of our work is to make it easier for non-programmers to program robot motion. We designed a system that translates human motion to motion of a (virtual and physical) humanoid Pepper robot. The system enables programming robot animations using pose-matching imitation of human motion. We developed a prototype that implements recording functionality, evaluated the prototype, and revised the system architecture based on feedback from participants with expertise in dance or programming the Pepper robot. We extend a conceptual design space for computer animation by including a physical robot. On the basis of this design space and the prototype development, we describe interaction design considerations for robot animation systems that implement human-humanoid imitation systems.
