Development of Kinect based teleoperation of Nao robot
Development of Kinect based teleoperation of Nao robot
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DOI：
10.1109/icarm.2016.7606908
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Chunxu Li;Chenguang Yang;P. Liang;A. Cangelosi;Jian Wan
中科院分区：
文献类型：
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作者：
Chunxu Li;Chenguang Yang;P. Liang;A. Cangelosi;Jian Wan
本文开发了一种在线跟踪系统，使用 Kinect 传感器来控制 Nao 机器人的手臂和头部。这项工作的主要目标是实现机器人能够实时跟踪人类用户的运动。这一目标是通过 RGB-D 相机 (Kinect v2) 和 Nao 机器人实现的，Nao 机器人是每只手臂都有 5 个自由度 (DOF) 的人形机器人。 Kinect 摄像头捕捉到的现实世界中操作员头部和手臂的关节运动可以通过正向和反向运动学以数学方式传输到工作空间，实际上是通过机器人和 Kinect 传感器之间基于数据的 UDP 连接。实验结果表明，所提出的方法已经取得了令人满意的性能。
In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.