Modeling of Graceful Human Motions and Generating of Graceful Robot Motions

优美的人体动作建模和优美的机器人动作生成

• 批准号: 23500249
• 负责人: UEDA Etsuko
• 金额: $ 3.24万
• 依托单位: Nara National College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23500249/
• 关键词: ロボット動作生成; 優美な動作; 動作解析; モーションキャプチャ

This study is focusing on "graceful" motions of humans and aims to quantify it to make robot motions more favorable. In the field of sports kinesiology and aesthetics, "Grace of motion" was defined qualitatively, but it was not defined quantitatively, yet. We have attempted to extract the grace features from the serving motions of waitperson and the classical dance motions, using these qualitative definition.We proposed some algorithms about "S-shape features extraction" and "quantification of motion fluidity". Motion trajectories were mapped to 2 dimensional plane by conducting principal component analysis, and calculated "S-shaped feature parameters" by curve fitting. Moreover we divided motion trajectories using curvature factor and torsion factor and extracted the number of divided trajectories per 1m, as "fluidity of motion". By comparing quantification results with impression evaluation results, we confirmed successful of quantification of "Grace of motion" about some tasks.

这项研究重点是人类的“优雅”动作，旨在量化它以使机器人动作更有利。在体育运动学和美学领域，“运动的恩典”是定性定义的，但尚未定量定义。我们试图使用这些定性定义从侍应生和古典舞蹈动作的服务动作中提取恩典特征。我们提出了一些有关“ S形特征提取”和“运动流动性量化”的算法。通过进行主成分分析，将运动轨迹映射到2维平面，并通过曲线拟合计算“ S形特征参数”。此外，我们使用曲率因子和扭转因子将运动轨迹划分，并将每1M的分裂轨迹数量提取为“运动的流动性”。通过将定量结果与印象评估结果进行比较，我们证实了对某些任务的“运动恩典”的成功量化。

项目成果

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

优美动作建模：从切换动作中确定优美动作的特征

• 作者: Takahiro Tanaka;Takumi Tsuduki;Etsuko Ueda;Kentaro Takemura & Takayuki Nakamura
• 通讯作者: Kentaro Takemura & Takayuki Nakamura

古典舞踊動作の優美さ特徴

古典舞动作的优雅特征

• 作者: Maegawa K.;Shiotani T.;Iwamoto K.;Kasetani M.;Noguchi T.;Lee J.H.;上田 悦子，後藤 毅朗，田中 隆寛，西 諒一郎
• 通讯作者: 上田 悦子，後藤 毅朗，田中 隆寛，西 諒一郎

Extraction of graceful motion features from pick-up task

从拾取任务中提取优美的运动特征

• 发表时间: 2012
• 作者: Takumi Tsuzuki;Etsuko Ueda
• 通讯作者: Etsuko Ueda