CAST-Robotics / head_pose_imitation

Human Head Pose Estimation and Imitation for SurenaV Humanoid Robot

Head Pose Imitation

This is a ROS package designed for head pose imitation on the Surena V humanoid robot.

To estimate human head pose, we utilized the "Dense Head Pose Estimation" project. The obtained head pose information is then mapped onto our robot for imitation purposes.

Configuration

• The configuration files for the face detection and facial landmarks models should be placed in the config/weights directory.

• You can adjust the thresholds and parameters for face detection and facial landmarks in the main.py file.

• The mapping from detected angles space to motor commands space can be modified by updating the constants in the main.py file.

Contributing

Contributions are welcome! If you find any issues or have suggestions for improvements, please open an issue or submit a pull request.

To do

• Adding simulation support