Modeling of Graceful Human Motions and Generating of Graceful Robot Motions

2013 Fiscal Year Final Research Report

• Project/Area Number: 23500249
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Nara National College of Technology
• Principal Investigator: UEDA Etsuko 奈良工業高等専門学校, 電子制御工学科, 教授 (90379529)
• Co-Investigator(Kenkyū-buntansha): TAKEMURA Kentaro 東海大学, 情報理工学部, 講師 (30435440) ; NAKAMURA Takayuki 和歌山大学, システム工学部, 教授 (50291969)
• Co-Investigator(Renkei-kenkyūsha): OGASAWARA Tsukasa 奈良先端科学技術大学院大学, 情報科学研究科, 教授 (30304158)
• Project Period (FY): 2011 – 2013
• Keywords: 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

Research Abstract

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.

Research Products

• [Journal Article] Modeling of graceful motions: determining characteristics of graceful motions from handover motion (2013)
  • Author(s): Takahiro Tanaka, Takumi Tsuduki, Etsuko Ueda, Kentaro Takemura & Takayuki Nakamura
  • Journal Title: CONPUTATIONAL METHODS AND EXPERIMENTAL MEASUREMENTS XVI, WIT Transactions on Modeling and Simulation Volume: 55 Pages: 453-463
  • Peer Reviewed
• [Presentation] 古典舞踊動作の優美さ特徴 (2013)
  • Author(s): 上田 悦子, 後藤 毅朗, 田中 隆寛, 西 諒一郎
  • Organizer: 第14回計測自動制御学会システムインテグレーション部門講演会(SI2013)
  • Place of Presentation: 兵庫県, 神戸国際会議場
  • Year and Date: 2013-12-19
• [Presentation] 受け渡しサービス動作における優美さ特徴抽出 (2013)
  • Author(s): 田中 隆寛, 都築 匠, 上田 悦子
  • Organizer: ロボティクスメカトロニクス講演会
  • Place of Presentation: 茨城県, つくば国際会議場
  • Year and Date: 2013-05-24
• [Presentation] 手渡し動作を対象とした「優美さ」特徴の抽出 (2012)
  • Author(s): 都築 匠, 上田 悦子
  • Organizer: ロボティクスメカトロニクス講演会 2012 (ROBOMEC2012) 2A1-Q05
  • Place of Presentation: 静岡県, アクトシティ浜松
  • Year and Date: 2012-05-29
• [Presentation] 動作プリミテ図6 優美動作の生成例 ィブ抽出のための古典舞踊動作解析 (2011)
  • Author(s): 山田 與志雄, 上田 悦子
  • Organizer: ロボティクスメカトロニクス講演会 2011 (ROBOMEC2011) 2P2-Q05
  • Place of Presentation: 岡山県, 岡山コンベンションセンター
  • Year and Date: 2011-05-28
• [Presentation] 拾い上げ動作における優美動作特徴の抽出 (2011)
  • Author(s): 都築 匠, 上田 悦子
  • Organizer: ロボティクスメカトロニクス講演会 2011 (ROBOMEC2011) 2P2-Q06
  • Place of Presentation: 岡山県, 岡山コンベンションセンター
  • Year and Date: 2011-05-28