C-3PO: Cyclic-Three-Phase Optimization for Human-Robot Motion Retargeting based on Reinforcement Learning
Taewoo Kim,Joo-Haeng Lee,Taewoo Kim,Joo-Haeng Lee
Motion retargeting between heterogeneous polymorphs with different sizes and kinematic configurations requires a comprehensive knowledge of (inverse) kinematics. Moreover, it is non-trivial to provide a kinematic independent general solution. In this study, we developed a cyclic three-phase optimization method based on deep reinforcement learning for human-robot motion retargeting. The motion reta...
