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...
- Autores:
-
Bravo M., Diego A.
Rengifo R., Carlos F.
- 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:123456789/3948
- Acceso en línea:
- http://revistas.uan.edu.co/index.php/ingeuan/article/view/384
http://repositorio.uan.edu.co/handle/123456789/3948
- Palabra clave:
- Motion Capture
Kinect
Robot
biomechanical models
Captura de movimiento
Kinect
Robot
Modelos biomecánicos
- Rights
- openAccess
- License
- Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
| Summary: | 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. |
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