Abstract
This paper proposes a Motion Capture Based Dual Arm Control Method for a humanoid robot using a Microsoft depth camera called Kinect. A system that controls a humanoid robot by imitating a human’s motion can be applied to various areas of tele-robotic applications due to its intuitive operation and convenience. Therefore, we developed a remote dual arm control system to process data captured from a depth camera and to control the joint angles of motors of dual arms of a humanoid robot using a human gesture based non-contacting motion capture method. In experiments, we successfully demonstrated dual arm control of a robot using the proposed motion capture based method using Kinect.
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Acknowledgments
This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (MEST) (2011-0013776). This work was also supported by the NAP (National Agenda Project) of the Korea Research Council of Fundamental Science & Technology.
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© 2013 Springer Science+Business Media Dordrecht
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Koo, KM., Kim, Y.J., Seo, YH. (2013). Motion Capture Based Dual Arm Control of a Humanoid Robot Using Kinect. In: Park, J., Barolli, L., Xhafa, F., Jeong, HY. (eds) Information Technology Convergence. Lecture Notes in Electrical Engineering, vol 253. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6996-0_96
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DOI: https://doi.org/10.1007/978-94-007-6996-0_96
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