Teleoperation control of Baxter robot based on human motion capture
文献类型：会议论文
| 作者 | Guangzhu Peng; Chenguang Yang; Yiming Jiang; Long Cheng ; Peidong Liang
|
| 出版日期 | 2016 |
| 会议日期 | AUG 01-03, 2016 |
| 会议地点 | Ningbo |
| 国家 | China |
| 英文摘要 | The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23132]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | Guangzhu Peng,Chenguang Yang,Yiming Jiang,et al. Teleoperation control of Baxter robot based on human motion capture[C]. 见:. Ningbo. AUG 01-03, 2016. |
入库方式： OAI收割
来源：自动化研究所
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