Real-time tele-operation and tele-walking of humanoid Robot Nao using Kinect Depth Camera

Almetwally, I.; Mallem, Malik

doi:10.1109/icnsc.2013.6548783

Cited by 42 publications

(24 citation statements)

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“…Originally, human motion was captured and optimized off-line to adapt to the robot structure and constraints [1][2][3]. Recently, real-time imitation systems [4][5][6][7][8][9][10][11][12][13] have been developed owing to the development of three-dimensional (3D) motion-tracking equipment such as Kinect [14] and Xsens MVN [15]. However, owing to the differences in the joints of the human body and robot, there is a discussion about the motion similarity during mapping motions from humans to robots [16,17].…”

Section: Introductionmentioning

confidence: 99%

“…However, owing to the differences in the joints of the human body and robot, there is a discussion about the motion similarity during mapping motions from humans to robots [16,17]. Generally, there are two definitions for motion similarity: one is the similarity between end-effector trajectories [8][9][10][11][12][13], and the other is the similarity between angular configurations [4][5][6][7]. Both definitions have been used for robot control.…”

Section: Introductionmentioning

confidence: 99%

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Work chain-based inverse kinematics of robot to imitate human motion with Kinect

2018

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The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a twophase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Work chain-based inverse kinematics of robot to imitate human motion with Kinect

2018

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“…In humanoid robotics, to obtain the relative position of the limbs and orientations of the robot, researchers prefer other systems: embedded camera associated with targets, magnetometer for absolute orientation on earth, angular encoders for limb angles associated to force sensors [17]- [22]. However, the camera option often needs external infrastructures and is then not a fully embedded system.…”

Section: Introductionmentioning

confidence: 99%

Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet

Chassagne¹,

Bruneau

Bialek

et al. 2015

IEEE Sensors J.

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A simple measurement system with a set of six ultrasonic piezoelectric transducers is presented for direct 3D positioning of humanoid robot limbs. A configuration with three emitters and three receivers leads to millimetric estimation of the distances. Millimetric resolution achievement over 70 cm range is aimed with high angular tolerance in order to mount the sensor on a humanoid robot. Sampling frequency up to 60 Hz is obtained. The sensor is then used to estimate relative positions and orientations in the space of each foot of the robot with regard to the pelvis. The principle and experimental performances of the sensor are presented in the first part with uncertainty estimations and discussions. In the second phase, the sensor has been setup on the ROBIAN humanoid robot to illustrate an application case and test the performances. Index Terms-Ultrasonic sensor, 3D positioning, sensor for humanoid robots. 1530-437X is currently pursuing the master's degree from the University of Technology of Compiègne, Compiègne, France. His main field of interests was focused on mechatronics and mechanics. He spent his internship with the Laboratoire d'Ingénierie des Systèmes de Versailles, Versailles, France, on the ROBIAN enhancement and the development of the sensor. Clément Falguière is currently pursuing the master's degree from the University of Technology of Compiègne, Compiègne, France. His main field of interests was focused on mechatronics and mechanics. He spent his internship with the Laboratoire d'Ingénierie des Systèmes de Versailles, Versailles, France, on the ROBIAN enhancement and the development of the sensor.

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“…Together with the sensor some software libraries are also available that permit to detect and track one or more people in the scene and to extract the corresponding human skeleton in real time. The availability of information about joint coordinates and orientation has promoted a great impulse to research on gesture and activity recognition [9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Gesture Recognition by Using Depth Data: Comparison of Different Methodologies

Cicirelli¹,

D’Orazio²

2017

Motion Tracking and Gesture Recognition

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In this chapter, the problem of gesture recognition in the context of human computer interaction is considered. Several classifiers based on different approaches such as neural network (NN), support vector machine (SVM), hidden Markov model (HMM), deep neural network (DNN), and dynamic time warping (DTW) are used to build the gesture models. The performance of each methodology is evaluated considering different users performing the gestures. This performance analysis is required as the users perform gestures in a personalized way and with different velocity. So the problems concerning the different lengths of the gesture in terms of number of frames, the variability in its representation, and the generalization ability of the classifiers have been analyzed.

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Real-time tele-operation and tele-walking of humanoid Robot Nao using Kinect Depth Camera

Cited by 42 publications

References 0 publications

Work chain-based inverse kinematics of robot to imitate human motion with Kinect

Work chain-based inverse kinematics of robot to imitate human motion with Kinect

Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet

Gesture Recognition by Using Depth Data: Comparison of Different Methodologies

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