Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions

arXiv cs.RO / 4/14/2026

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Key Points

The paper proposes a vision-based humanoid motion imitation framework that captures human skeletal keypoints with a single camera, converts them to joint angles, and retargets the motion to the robot.
It adds a safety layer using Control Barrier Functions (CBFs) formulated as a Quadratic Program (QP) to filter imitation commands in real time.
The QP-based safety filter explicitly prevents both self-collisions within the humanoid and collisions between the humanoid and the human.
Simulation experiments show the method can produce collision-aware imitation behaviors suitable for real-time operation.
Overall, the work focuses on operational safety as a key requirement for deploying human-to-humanoid motion imitation systems.

Abstract

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.