Arm Gesture Generation of Humanoid Robot Mybot-KSR for Human Robot Interaction

The objective of this paper is to devise a scheme for generating arm gestures of humanoid robots. Inverse kinematics and the minimum-jerk trajectory method are used to generate trajectory of each gesture. To calculate the desired positions of arms, inverse kinematics is solved by the damped least-squares method. Human-like trajectory from initial position to desired position is generated by the minimum-jerk trajectory method. The effectiveness of the proposed method is demonstrated through a human robot interaction (HRI) experiment by using the humanoid robot Mybot-KSR, developed in KAIST RIT Laboratory. In the experiment, internal state of the robot is changed from the perceived environment. The internal state consists of emotion and homeostasis. Based on the emotion, the robot tries to interact with human by selecting proper gestures using the fuzzy integral and fuzzy measure.