Realistic Human Motion Preservation-Imitation Development on Robot with Kinect
Abstract: 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.
Author: Abdul Muis, Wisnu
Indrajit
Journal Code: jptkomputergg120089
Artikel Terkait :
Jp Teknik Komputer gg 2012
- Fuzzy Expert System for Tropical Infectious Disease by Certainty Factor
- Image Encryption on Mobile Phone using Super Encryption Algorithm
- Securing E-Mail Communication Using Hybrid Cryptosystem on Android-based Mobile Devices
- Particle Filter with Gaussian Weighting for Human Tracking
- View Synthesizing for a Large-Scale Object in a Scene
- Colour Perception on Facial Expression towards Emotion
- Face Recognition Using Holistic Features and Linear Discriminant Analysis Simplification
- Effects of Puncturing Patterns on Punctured Convolutional Codes
- Early Model of Traffic Sign Reminder Based on Neural Network
- Finite Element Method Using PDETOOL of Matlab for Hybrid Stepper Motor Design
- A Low Cost C8051F006 SoC-Based Quasi-Static C-V Meter for Characterizing Semiconductor Devices
- Measurement and Simulation Techniques for Piezoresistive Microcantilever Biosensor Applications
- Optimum Design of a Five-phase Permanent Magnet Synchronous Motor for Underwater Vehicles by use of Particle Swarm Optimization
- Fluctuations Mitigation of Variable Speed Wind Turbine through Optimized Centralized Controller
- Optimal Design of Fuel-cell, Wind and Micro-hydro Hybrid System using Genetic Algorithm
- Optimal Placement and Sizing of Thyristor-controlled-series-capacitor using Gravitational Search Algorithm
- Improved Bacterial Foraging Algorithm for Optimum Economic Emission Dispatch with Wind Power
- Implementation of Electricity Competition Framework with Economic Dispatch Direct Method
- Accelerated Aging Effect on Epoxy-polysiloxane-Rice Husk Ash Polymeric Insulator Material
- Genetic Algorithm of Sliding Mode Control Design for Manipulator Robot
- Vision Based Self Localization for Humanoid Robot Soccer
- An Improved Robot Path Planning Algorithm
- Teleautonomous Control on Rescue Robot Prototype
- Indoor Localization System based on Artificial Landmarks and Monocular Vision