A Real-Time Human Imitation System Using Kinect
文献类型：期刊论文
| 作者 | Yongsheng Ou; Jianbing Hu; Zhiyang Wang; Yiqun Fu; Xinyu Wu; Xiaoyun Li |
| 刊名 | International Journal of Social Robotics
 |
| 出版日期 | 2015 |
| 英文摘要 | Robots are commonly used in harsh environments where it is difficult for humans to carry out dangerous tasks. Robot imitations provide a natural approach for humanoid robots to mimic the behavior of humans in real time. However, it is never an easy task to build an efficient and robust imitation system because of the high degree of freedom involved in motions. In this paper, we propose a human imitation system based on the Aldebaran NAO robot and the Microsoft Kinect, which can mimic the motions of the whole body in real time. By solving inverse kinematics through an optimization process, motions are split up into critical frames which are represented by a list of robot joint angles. Each joint angle is then derived through the control of the joint motors in NAO. In addition, balance maintenance in both the single and double supporting phases as well as the self-collision avoidance are taken into consideration. Experimental results show that the system is robust and flexible enough to imitate various human motions. |
| 收录类别 | SCI |
| 原文出处 | http://link.springer.com/article/10.1007/s12369-015-0296-9/fulltext.html |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6673]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | International Journal of Social Robotics |
| 推荐引用方式 GB/T 7714 | Yongsheng Ou,Jianbing Hu,Zhiyang Wang,et al. A Real-Time Human Imitation System Using Kinect[J]. International Journal of Social Robotics,2015. |
| APA | Yongsheng Ou,Jianbing Hu,Zhiyang Wang,Yiqun Fu,Xinyu Wu,&Xiaoyun Li.(2015).A Real-Time Human Imitation System Using Kinect.International Journal of Social Robotics. |
| MLA | Yongsheng Ou,et al."A Real-Time Human Imitation System Using Kinect".International Journal of Social Robotics (2015). |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。