- Tytuł:
- Interactive programming of a humanoid robot
- Autorzy:
-
Wasielica, M.
Wąsik, M.
Kasiński, A. - Powiązania:
- https://bibliotekanauki.pl/articles/384248.pdf
- Data publikacji:
- 2014
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
bipeds
control of robotic systems
humanoid robots
legged robots
teleoperation - Opis:
- 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.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 3; 3-9
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł