In this paper we explore the motion control of a robotic puppet through motion capture data. A motion mapping technique is investigated to map the human motion into marionette motion, and from that calculate the rotation of the servo motors to achieve desired marionette motions. A software was developed to capture human motions utilizing a bend-twist sensor system, and use the motion data to control the robotic marionette by either offline control method or online control method (real-time). We also propose the idea of integrating human into the system to close the control loop. Experimental results show that our motion mapping enables puppet to follow the actor motions with good correspondence.

Item Type:	Refereed Conference Paper
Keywords:	Robotics, motion capture, control, human robot interation
Research Division:	Information and Computing Sciences
Research Group:	Library and information studies
Research Field:	Human information interaction and retrieval
Objective Division:	Information and Communication Services
Objective Group:	Information systems, technologies and services
Objective Field:	Information systems, technologies and services not elsewhere classified
UTAS Author:	Duh, BL (Professor Henry Duh)
ID Code:	90317
Year Published:	2007
Deposited By:	Information and Communication Technology
Deposited On:	2014-03-31
Last Modified:	2014-05-21
Downloads:	0