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
