Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking

Abstract

This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user's both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).

3D Printed End of Arm Tooling (EOAT) for Robotic Automation

“…The Robot Institute of America states that a robot can be interpreted as a reprogrammable, multifunctional manipulator designed for relocation of objects or materials through numerous programmable movements for a variety of tasks [3]. A robot may have certain anthropomorphic characteristics allowing for the mimicry of human physical structure and response to sensory signals that are analogous to human behavior [4]. A robot's end of arm tool (EOAT) also described as an end-effector, is selected according to the operation of its task and the robot manipulation specific to the part or tool.…”

Robot Imitation Learning of Social Gestures with Self-Collision Avoidance Using a 3D Sensor

“…It was found in [ 10 ] that analytical approaches and iterative Jacobian methods require more complex models that cannot be solved in real-time, while neuro-fuzzy system methods require large amounts of training data to generate accurate models. The geometrical approach in [ 11 ] utilizes triangles to model the joint angles for human arm motions, which can be used for directly mapping human arm motions to a robot. The geometric-based imitation learning system presented in this paper is inspired by the triangle-based approach presented in [ 11 ].…”

“…The geometrical approach in [ 11 ] utilizes triangles to model the joint angles for human arm motions, which can be used for directly mapping human arm motions to a robot. The geometric-based imitation learning system presented in this paper is inspired by the triangle-based approach presented in [ 11 ].…”

Human upper limb manipulator mass center motion and mass moments of inertia variation

“…The proposed topic seems to be very interesting and attracting the attention of many scientists worldwide. For example, investigations on a human-arm-like mechanical manipulator are reported before [5,6,8,9,10]. Reference [7] can be used as a general source of knowledge on the subject.…”