Interactive programming of a humanoid robot

• Autorzy: Wasielica M. , Wąsik M. , Kasiński A.

Identyfikatory

DOI

10.14313/JAMRIS_3-2014/21

• Języki publikacji: EN

Abstrakty

EN

This paper presents a control system for a humanoid robot based on human body movement tracking. The system uses the popular Kinect sensor to capture the mo- tion of the operator and allows the small, low-cost, and proprietary robot to mimic full body motion in real time. Tracking controller is based on optimization-free algorithms and uses a full set of data provided by Kinect SDK, in order to make movements feasible for the considerably different kinematics of the humanoid robot compared to the human body kinematics. To maintain robot stability we implemented the balancing algorithm based on a simple geometrical model, which adjusts only the configuration of the robot’s feet joints, maintaining an unchanged imitated posture. Experimental results demonstrate that the system can successfully allow the robot to mimic captured human motion sequences.

Słowa kluczowe

EN

bipeds; control of robotic systems; humanoid robots; legged robots; teleoperation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2014
• Tom: Vol. 8, No. 3
• Strony: 3--9
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Wasielica M.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, http://www.cie.put.poznan.pl/

autor

Wąsik M.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, www: http://www.cie.put.poznan.pl/.

autor

Kasiński A.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, www: http://www.cie.put.poznan.pl/

Bibliografia

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• [12] M. Wasielica, M. Wa̧sik, A. Kasiński and P. Skrzypczyński, “Interactive Programming of a Mechatronic System: A Small Humanoid Robot Example”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Wollongong, Australia (2013), pages 459–464,DOI:10.1109/AIM.2013.6584134.
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