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)
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Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)Acceso abiertohttps://creativecommons.org/licenses/by-nc-sa/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Bravo M., Diego A.Rengifo R., Carlos F.2021-06-16T13:53:11Z2021-06-16T13:53:11Z2014-12-20http://revistas.uan.edu.co/index.php/ingeuan/article/view/384http://repositorio.uan.edu.co/handle/123456789/3948This 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 Nariñohttp://revistas.uan.edu.co/index.php/ingeuan/article/view/384/3222346-14462145-0935INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014)Motion CaptureKinectRobotbiomechanical modelsCaptura de movimientoKinectRobotModelos biomecánicosCapture 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/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85123456789/3948oai:repositorio.uan.edu.co:123456789/39482024-10-09 23:19:39.6https://creativecommons.org/licenses/by-nc-sa/4.0/Acceso abiertometadata.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 Motion Capture Kinect Robot biomechanical models Captura de movimiento Kinect Robot Modelos biomecánicos |
| 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.creator.fl_str_mv |
Bravo M., Diego A. Rengifo R., Carlos F. |
| dc.contributor.author.spa.fl_str_mv |
Bravo M., Diego A. Rengifo R., Carlos F. |
| dc.subject.en-US.fl_str_mv |
Motion Capture Kinect Robot biomechanical models |
| topic |
Motion Capture Kinect Robot biomechanical models Captura de movimiento Kinect Robot Modelos biomecánicos |
| dc.subject.es-ES.fl_str_mv |
Captura de movimiento Kinect Robot Modelos biomecánicos |
| 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.issued.spa.fl_str_mv |
2014-12-20 |
| dc.date.accessioned.none.fl_str_mv |
2021-06-16T13:53:11Z |
| dc.date.available.none.fl_str_mv |
2021-06-16T13:53:11Z |
| dc.type.coar.fl_str_mv |
http://purl.org/coar/resource_type/c_2df8fbb1 |
| dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
| dc.type.coar.spa.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/article |
| 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 |
http://revistas.uan.edu.co/index.php/ingeuan/article/view/384 |
| dc.identifier.uri.none.fl_str_mv |
http://repositorio.uan.edu.co/handle/123456789/3948 |
| url |
http://revistas.uan.edu.co/index.php/ingeuan/article/view/384 http://repositorio.uan.edu.co/handle/123456789/3948 |
| dc.language.iso.spa.fl_str_mv |
spa |
| language |
spa |
| dc.relation.none.fl_str_mv |
http://revistas.uan.edu.co/index.php/ingeuan/article/view/384/322 |
| dc.rights.none.fl_str_mv |
Acceso abierto |
| dc.rights.license.spa.fl_str_mv |
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) |
| dc.rights.uri.spa.fl_str_mv |
https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.coar.spa.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| rights_invalid_str_mv |
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) Acceso abierto https://creativecommons.org/licenses/by-nc-sa/4.0/ http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.none.fl_str_mv |
application/pdf |
| dc.publisher.spa.fl_str_mv |
Universidad Antonio Nariño |
| dc.source.none.fl_str_mv |
2346-1446 2145-0935 |
| dc.source.es-ES.fl_str_mv |
INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014) |
| institution |
Universidad Antonio Nariño |
| repository.name.fl_str_mv |
Repositorio Institucional UAN |
| repository.mail.fl_str_mv |
alertas.repositorio@uan.edu.co |
| _version_ |
1814300425300475904 |