期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2014
卷号：8
期号：3
页码：3
DOI：10.14313/JAMRIS_3-2014/21
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper presents a control system for a humanoid robot based on human body movement tracking. The sys- tem uses the popular Kinect sensor to capture the mo- .on of the operator and allows the small, low-cost, and proprietary robot to mimic full body mo.on in real .me. Tracking controller is based on op.miza.on-free algo- rithms and uses a full set of data provided by Kinect SDK, in order to make movements feasible for the considerably di.erent kinema.cs of the humanoid robot compared to the human body kinema.cs. To maintain robot stability we implemented the balancing algorithm based on a sim- ple geometrical model, which adjusts only the configura- .on of the robot's feet joints, maintaining an unchanged imitated posture. Experimental results demonstrate that the system can successfully allow the robot to mimic cap- tured human mo.on sequences.
关键词：bipeds; control of robo.c systems; humanoid ; robots; legged robots; teleopera.on
