Real-Time Human Head Imitation for Humanoid Robots

Cazzato, Dario; Cimarelli, Claudio; Sanchez Lopez, Jose Luis; Olivares Mendez, Miguel Angel; Voos, Holger

doi:10.1145/3348488.3348501

Reference : Real-Time Human Head Imitation for Humanoid Robots


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/41628

Title :	Real-Time Human Head Imitation for Humanoid Robots
Language :	English
Author, co-author :	Cazzato, Dario [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
	Cimarelli, Claudio [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
	Sanchez Lopez, Jose Luis [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Voos, Holger [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Engineering Research Unit]
Publication date :	Jul-2019
Main document title :	Proceedings of the 2019 3rd International Conference on Artificial Intelligence and Virtual Reality
Pages :	65--69
Peer reviewed :	Yes
Event name :	3rd International Conference on Artificial Intelligence and Virtual Reality
Event date :	from 27-07-2019 to 29-07-2019
Abstract :	[en] The ability of the robots to imitate human movements has been an active research study since the dawn of the robotics. Obtaining a realistic imitation is essential in terms of perceived quality in human-robot interaction, but it is still a challenge due to the lack of effective mapping between human movements and the degrees of freedom of robotics systems. If high-level programming interfaces, software and simulation tools simplified robot programming, there is still a strong gap between robot control and natural user interfaces. In this paper, a system to reproduce on a robot the head movements of a user in the field of view of a consumer camera is presented. The system recognizes the presence of a user and its head pose in real-time by using a deep neural network, in order to extract head position angles and to command the robot head movements consequently, obtaining a realistic imitation. At the same time, the system represents a natural user interface to control the Aldebaran NAO and Pepper humanoid robots with the head movements, with applications in human-robot interaction.
Target :	Researchers ; Professionals
Permalink :	http://hdl.handle.net/10993/41628
DOI :	10.1145/3348488.3348501
Other URL :	https://dl.acm.org/doi/abs/10.1145/3348488.3348501

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