Title :
Standardized linearization and vectorization algorithm for arm motion control of a humanoid telepresence robot
Author :
Waddell, Michael ; Villasuso, Joel ; ChavezGuevera, Daniela ; Jong-Hoon Kim
Author_Institution :
Discovery Lab., Florida Int. Univ., Miami, FL, USA
Abstract :
Recently, the new motion sensor: the Kinect is being used for natural motion retrieval with no additional equipment on the operator, less computational demand, and it is cost effective. But many restrictions apply because the results retrieved from the Kinect include noisy data which disturbs precise and smooth robot motion control. We propose a simple linearization algorithm to improve the accuracy of the data retrieved from the Kinect and designed a vectorization algorithm for converting positions of an operator´s skeleton in three dimensions to robot motions. In this paper, we provide the algorithm and its implementation. Furthermore, we demonstrate the performance of the algorithm using the prototype robot.
Keywords :
humanoid robots; image motion analysis; image thinning; linearisation techniques; manipulators; motion control; position control; telerobotics; Kinect; arm motion control; computational demand; data retrieval; humanoid telepresence robot; motion sensor; natural motion retrieval; noisy data; operator skeleton position; smooth robot motion control; standardized linearization algorithm; vectorization algorithm; Kalman filters; Humanoid Telepresence Robot; Kinect; Motion Sensor;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695623