Capture system for human motion imitation by a fixed base planar robot

This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint...

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Autores:
Tipo de recurso:
Article of journal
Fecha de publicación:
2014
Institución:
Universidad Antonio Nariño
Repositorio:
Repositorio UAN
Idioma:
spa
OAI Identifier:
oai:repositorio.uan.edu.co:123456789/10453
Acceso en línea:
https://revistas.uan.edu.co/index.php/ingeuan/article/view/384
https://repositorio.uan.edu.co/handle/123456789/10453
Palabra clave:
Captura de movimiento
Kinect
Robot
Modelos biomecánicos
Motion Capture
Kinect
Robot
biomechanical models
Rights
License
https://creativecommons.org/licenses/by-nc-sa/4.0
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oai_identifier_str oai:repositorio.uan.edu.co:123456789/10453
network_acronym_str UAntonioN2
network_name_str Repositorio UAN
repository_id_str
spelling 2014-12-202024-10-10T02:25:14Z2024-10-10T02:25:14Zhttps://revistas.uan.edu.co/index.php/ingeuan/article/view/384https://repositorio.uan.edu.co/handle/123456789/10453This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint coordinates (q1 , q2 , ..., q9 ), which are the angular positions of reference for the robot. These reference trajectories were used to imitate human movement by a planar robot with nine degrees of freedom.En este trabajo se  muestra la implementación de un sistema de captura de movimiento de bajo costo, utilizando Kinect \texttrademark, para la imitación de movimiento en el plano frontal mediante un robot planar de base fija. Se hizo un estudio de la cinemática inversa para mapear el movimiento humano con las coordenadas cartesianas $(x,y,z)$ que entrega el sensor y transformarlas en coordenadas articulares $(q_1,q_2,\ldots,q_9)$ que son las posiciones angulares de referencia para el robot. Estas trayectorias de referencia se utilizaron para imitar el movimiento humano por medio de un robot planar de nueve grados de libertad.application/pdfspaUNIVERSIDAD ANTONIO NARIÑOhttps://revistas.uan.edu.co/index.php/ingeuan/article/view/384/322https://creativecommons.org/licenses/by-nc-sa/4.0http://purl.org/coar/access_right/c_abf2INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014)2346-14462145-0935Captura de movimientoKinectRobotModelos biomecánicosMotion CaptureKinectRobotbiomechanical modelsCapture system for human motion imitation by a fixed base planar robotSistema de captura para la imitación del movimiento humano por un robot planar de base fijainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85Bravo M., Diego A.Rengifo R., Carlos F.123456789/10453oai:repositorio.uan.edu.co:123456789/104532024-10-14 03:45:37.567metadata.onlyhttps://repositorio.uan.edu.coRepositorio Institucional UANalertas.repositorio@uan.edu.co
dc.title.en-US.fl_str_mv Capture system for human motion imitation by a fixed base planar robot
dc.title.es-ES.fl_str_mv Sistema de captura para la imitación del movimiento humano por un robot planar de base fija
title Capture system for human motion imitation by a fixed base planar robot
spellingShingle Capture system for human motion imitation by a fixed base planar robot
Captura de movimiento
Kinect
Robot
Modelos biomecánicos
Motion Capture
Kinect
Robot
biomechanical models
title_short Capture system for human motion imitation by a fixed base planar robot
title_full Capture system for human motion imitation by a fixed base planar robot
title_fullStr Capture system for human motion imitation by a fixed base planar robot
title_full_unstemmed Capture system for human motion imitation by a fixed base planar robot
title_sort Capture system for human motion imitation by a fixed base planar robot
dc.subject.es-ES.fl_str_mv Captura de movimiento
Kinect
Robot
Modelos biomecánicos
topic Captura de movimiento
Kinect
Robot
Modelos biomecánicos
Motion Capture
Kinect
Robot
biomechanical models
dc.subject.en-US.fl_str_mv Motion Capture
Kinect
Robot
biomechanical models
description This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint coordinates (q1 , q2 , ..., q9 ), which are the angular positions of reference for the robot. These reference trajectories were used to imitate human movement by a planar robot with nine degrees of freedom.
publishDate 2014
dc.date.accessioned.none.fl_str_mv 2024-10-10T02:25:14Z
dc.date.available.none.fl_str_mv 2024-10-10T02:25:14Z
dc.date.none.fl_str_mv 2014-12-20
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.coar.spa.fl_str_mv http://purl.org/coar/resource_type/c_6501
dc.type.coarversion.none.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
format http://purl.org/coar/resource_type/c_6501
status_str publishedVersion
dc.identifier.none.fl_str_mv https://revistas.uan.edu.co/index.php/ingeuan/article/view/384
dc.identifier.uri.none.fl_str_mv https://repositorio.uan.edu.co/handle/123456789/10453
url https://revistas.uan.edu.co/index.php/ingeuan/article/view/384
https://repositorio.uan.edu.co/handle/123456789/10453
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://revistas.uan.edu.co/index.php/ingeuan/article/view/384/322
dc.rights.es-ES.fl_str_mv https://creativecommons.org/licenses/by-nc-sa/4.0
dc.rights.coar.spa.fl_str_mv http://purl.org/coar/access_right/c_abf2
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/4.0
http://purl.org/coar/access_right/c_abf2
dc.format.none.fl_str_mv application/pdf
dc.publisher.es-ES.fl_str_mv UNIVERSIDAD ANTONIO NARIÑO
dc.source.es-ES.fl_str_mv INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014)
dc.source.none.fl_str_mv 2346-1446
2145-0935
institution Universidad Antonio Nariño
repository.name.fl_str_mv Repositorio Institucional UAN
repository.mail.fl_str_mv alertas.repositorio@uan.edu.co
_version_ 1814300336250159104

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