Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866913026063466496 |
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| author | Cai, Wenqi Abanes, John Evangeliou, Nikolaos Tzes, Anthony |
| author_facet | Cai, Wenqi Abanes, John Evangeliou, Nikolaos Tzes, Anthony |
| contents | Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are captured by a single camera and converted into joint angles for motion retargeting. Safety is enforced through a Control Barrier Function (CBF) layer formulated as a Quadratic Program (QP), which filters imitation commands to prevent both self-collisions and human-robot collisions. Simulation results validate the effectiveness of the proposed framework for real-time collision-aware motion imitation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_11447 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions Cai, Wenqi Abanes, John Evangeliou, Nikolaos Tzes, Anthony Robotics Systems and Control Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are captured by a single camera and converted into joint angles for motion retargeting. Safety is enforced through a Control Barrier Function (CBF) layer formulated as a Quadratic Program (QP), which filters imitation commands to prevent both self-collisions and human-robot collisions. Simulation results validate the effectiveness of the proposed framework for real-time collision-aware motion imitation. |
| title | Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2604.11447 |