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September 2016

Reaching and pointing gestures calculated by a generic gesture system for social robots

Complete article Highlights: The proposed method can be used to generate gestures for an arbitrary social robot. This paper focuses on how reaching and pointing gestures are calculated. DH-parameters, orientation of the base frames and joint limits are used as input. Joint angles are calculated using IK with a cost-function for natural postures. The method was validated on several robots, including NAO, Justin and ASIMO. Abstract: Since the implementation of …Read More