Modeling Of Graceful Motions: Determining Characteristics Of Graceful Motions From Handover Motion
Free (open access)
453 - 463
T. Tanaka, T. Tsuduki, E. Ueda, K. Takemura & T. Nakamura
Since robots in the welfare and service industries make contact with humans, they have to produce favorable impressions in the human mind. This study proposes graceful motions of humans and aims to quantify it to make robot motions more favorable. We have focused on the handover motion of a glass and selected waiters as subjects. Their motions were recorded as trajectories by motion capture system and evaluated by observers. The result revealed that the motions of them produce favorable and graceful impressions. The trajectory was projected on a two-dimensional plane surface that was obtained by conducting principal component analysis. The projected trajectory was calculated by fitting 2 spline curves. As a result, the common characteristics of graceful motions were extracted as parameters of spline curves and graceful motions are characterized by S-shaped trajectories. After that, 4 motions were created using 3DCG by changing extracted parameters step by step to verify which parameters provide graceful impressions through simulations. Finally, the parameters that produce graceful and favorable impressions were determined. Keywords: graceful motions, motion analysis, motion capture.
Keywords: graceful motions, motion analysis, motion capture