disney research

Description

Link to project page and press release: http://www.disneyresearch.com/project/objectreceivingrobots/ A humanoid robot can receive an object handed to it by a person with something approaching natural, human-like motion thanks to a new method developed by scientists at Disney Research, Pittsburgh in a project partially funded by the International Center for Advanced Communication Technologies (interACT) at Carnegie Mellon University and Karlsruhe Institute of Technology (KIT). Recognizing that a person is handing something and predicting where the human plans to make the handoff is difficult for a robot, but the researchers from Disney and KIT solved the problem by using motion capture data with two people to create a database of human motion. By rapidly searching the database, a robot can realize what the human is doing and make a reasonable estimate of where he is likely to extend his hand. ***** This project presents a method for synthesizing motions of a humanoid robot that receives an object from a human, with focus on a natural object passing scenario where the human initiates the passing motion by moving an object toward the robot, which continuously adapts its motion to the observed human motion in realtime. In this scenario, the robot not only has to recognize and adapt to the human action but also has to synthesize its motion quickly so that the human does not have to wait holding an object. We solve these issues by using a human motion database obtained from two persons performing the object passing task. The rationale behind this approach is that human performance of such a simple task is repeatable, and therefore the receiver (robot) motion can be synthesized by looking up the passer motion in a database. We demonstrate in simulation that the robot can start extending the arm at an appropriate timing and take hand configurations suitable for the object being passed. We also perform hardware experiments of object handing from a human to a robot.