Control of mindstorms NXT robot using Xtion Pro camera skeletal tracking

• Autorzy: Żmudziński Ł. , Augustyniak A. , Artiemjew P.
• Języki publikacji: EN

Abstrakty

EN

This paper focuses on the topic of creating a gesture-oriented user control system for robotic agents. For testing purposes we have used a Lego Mindstorm NXT self-designed robot and a Xtion Pro camera. Our construction consists of a NXT brick and three motors (two used for movement and one for the clutch mechanism). Our software is developed using C++ with NXT++ and OpenNi/NiTe libraries. System tests were performed in a real environment.

Słowa kluczowe

EN

skeletal tracking; robot control; multi-user control; OpenGL

• Wydawca: Wydawnictwo Uniwersytetu Warmińsko-Mazurskiego w Olsztynie
• Czasopismo: Technical Sciences / University of Warmia and Mazury in Olsztyn
• Rocznik: 2016
• Tom: nr 19(1)
• Strony: 71--81
• Opis fizyczny: Bibliogr. 10 poz., rys., zdj.

Twórcy

autor

Żmudziński Ł.

• Robotic Circle, University of Warmia and Mazury in Olsztyn

autor

Augustyniak A.

• Robotic Circle, University of Warmia and Mazury in Olsztyn

autor

Artiemjew P.

• Department of Mathematics and Computer Science, University of Warmia and Mazury in Olsztyn

Bibliografia

• ARTIEMJEW P. 2015. The localization of Mindstorms NXT in the magnetic unstable environment based on histogram filtering. Conference: International Conference on Agents and Artificial Intelligence 2015 (ICAART2015), At Lisbon, Portugal, p. 341–348.
• IBA S., WEGHE J.M.V., PAREDIS C.J.J., KHOSLA P.K. 1999. An architecture for gesture-based control of mobile robots. International Conference on ‘‘Intelligent Robots and Systems’’, IROS’99. Proceedings. IEEE/RSJ. Vol. 2.
• KOENEMANN J., BENNEWITZ M. 2012. Whole-body imitation of human motions with a Nao humanoid. 7th ACM/IEEE International Conference on ‘‘Human-Robot Interaction’’ (HRI).
• LEGO NXT Tribot building instructions. https://education.lego.com/dadk/lesi/support/product-support/mindstorms-education-nxt/nxt-base-set-9797/building-instructions.
• MACHIDA E., CAO M., MURAO T., HASHIMOTO H. 2012. Human motion tracking of mobile robot with Kinect 3D sensor. Proceedings of SICE Annual Conference, Akita, p. 2207–2211.
• NKR-UWM Robotic Circle of University of Warmia and Mazury. 2014. http://www.uwm.edu.pl/nkr/.
• NXT-XTION project. 2015. https://github.com/nkruwm/nxt-xtion.
• OpenNi library for C++. 2014. https://code.google.com/p/simple-openni/.
• WALKER C., BUTTERWORTH D., ARTIEMJEW P. 2014. NXT++ library. https://github.com/cmwslw/nxtplus-plus, http://wmii.uwm.edu.pl/~artem/downloads.html.
• ŻMUDZIŃSKI Ł., AUGUSTYNIAK A. 2015. Gesture system algorithm video presentation. https://youtu.be/JppRyd3Vk1c.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.