At most, motion generation on robot is usually done through complex computation in off-line mode and straightforward method. In straightforward method, the operator drives robot to certain pose either with moving manipulator tool-tip with hand or remotely. Once the desired pose achieved, the current pose is saved to memory. However, these methods are time consuming. An easy and quick approach is by imitating an object motion to robot with sensing devices. There have been numerous efforts for motion imitation either by using position sensitive detector (PSD) or by using stereo camera. However, a calibrated pre-condition should be done initially, which is not possible for natural movement. Here, this paper proposed motion preservation by capturing human motion naturally through Kinect and then reproduced human motion on humanoid robot simultaneously. In addition, the motions are also preserved in database for later used on robot motion generation and teaching as well. Furthermore, the robot motions are developed to run smoothly and close to human eye ability. The proposed method has been validated in experimental results by capturing and reproducing human motion on robot in rate of 20Hz with340us computation cost for each process.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Realistic Human Motion Preservation-Imitation Development on Robot with Kinect


    Beteiligte:
    Muis, Abdul (Autor:in) / Indrajit, Wisnu (Autor:in)

    Erscheinungsdatum :

    2012-12-01


    Anmerkungen:

    doi:10.12928/telkomnika.v10i4.847
    TELKOMNIKA (Telecommunication Computing Electronics and Control); Vol 10, No 4: December 2012; 599-608 ; 2302-9293 ; 1693-6930 ; 10.12928/telkomnika.v10i4



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    Human motion imitation robot

    Thaker, Swapnil Amit | BASE | 2019

    Freier Zugriff

    Motion capture with Kinect

    Girones Dezsènyi, Marc | BASE | 2013

    Freier Zugriff

    Human body motion parameters capturing using kinect

    Hsu, S. C. | British Library Online Contents | 2015


    Whole-Body Human-to-Humanoid Motion Imitation

    Lin, Hsien I ;Chen, Zan Sheng | Trans Tech Publications | 2013


    Humanoid robot gait imitation

    Hwang, Kao-Shing / Lin, Jin-Ling / Huang, Tsung-Chuan et al. | IEEE | 2014