Real-Time Motion Generation Method of Humanoid Robots based on RGB-D Camera for Interactive Performance and Exhibition

As humanoid robot technology advances, the use of robots for performance is increasing. As a result, studies are being conducted to increase the scope of use of robots in performances by making them natural like humans. Among them, the use of motion capture technology is often used, and there are environmental inconveniences in preparing for motion capture, such as the need for IMU sensors or markers attached to each part of the body and precise high-performance cameras. In addition, for robots used in performance technology, there is a problem that they have to respond in real time depending on the unexpected situation or the audience's response. To make up for the above mentioned problems, in this paper, we proposed a real-time motion capture system by using a number of RGB-D cameras and creating natural robot motion similar to human motion by using motion-captured data. Keyword : Motion capture, Robot motion, RGB-D camera, Interactive performance, Real-time Copyright C 2020 Korean Institute of Broadcast and Media Engineers. All rights reserved. “This is an Open-Access article distributed under the terms of the Creative Commons BY-NC-ND (http://creativecommons.org/licenses/by-nc-nd/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited and not altered.” 특집논문 (Special Paper) 방송공학회논문지 제25권 제4호, 2020년 7월 (JBE Vol. 25, No. 4, July 2020) https://doi.org/10.5909/JBE.2020.25.4.528 ISSN 2287-9137 (Online) ISSN 1226-7953 (Print) 서보형 외 3인: 인터렉티브 공연·전시를 위한 RGB-D 카메라 기반 휴머노이드 로봇의 실시간 로봇 동작 생성 방법 529 (Bohyeong Seo et al.: Real-Time Motion Generation Method of Humanoid Robots based on RGB-D Camera for Interactive Performance and Exhibition)