Online cooperative task execution through human motion capture databases

This chapter addresses cooperative task executions using a hierarchical database of example human motions. The approach is based on a dual database of example movements, which are gained through demonstrations of human-robot collaborative tasks. Example human movements are encoded in the primary database, which is enhanced with weighted directed graphs. The primary database is used for online human movement recognition through a hierarchical search. The secondary database encodes corresponding robot movements and is used for cooperative robot trajectory synthesis. Smooth and continuous trajectories are gained by encoding them with dynamic movement primitives. The proposed approach was used to execute dynamic cooperative tasks.