Performance evaluation of an inverse kinematic based control system of a humanoid robot arm using MS Kinect
Performance evaluation of an inverse kinematic based control system of a humanoid robot arm using MS Kinect
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使用 MS Kinect 的人形机器人手臂基于逆运动学的控制系统的性能评估
DOI：
10.1109/robio.2017.8324461
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
L. N. Dinh
中科院分区：
文献类型：
--
作者：
H. Nguyen;Hung Chan Nguyen;N. Mai;Hung T. Nguyen;D. X. Tran;Lam Bao Dang;Hai Minh Pham;L. N. Dinh
本文介绍了一种基于逆运动学的新型仿人机器人控制系统，该机器人采用微软Kinect作为三维传感器。基于Kinect处理后的传感数据，通过使用逆运动学方程捕获、分析并映射到关节变量中。一个显着的改进，在逆运动学算法已经取得了更好的感知人类的姿态。该系统的性能进行了评估，在一个新开发的测试台在现实世界的条件下，有效地显示了感知相关的错误控制，以进一步改善系统。
This paper presents an inverse kinematic based control system of a novel self-developed humanoid robot using a Microsoft Kinect as 3D sensor. Based on the processed sensory data from the Kinect, human gestures and motions are captured, analyzed and mapped into joint variables by using inverse kinematic equations. A significant improvement in the inverse kinematic algorithm has been made to achieve better perception of human gestures. The performance of the proposed system is evaluated in a newly developed test-bed under real-world conditions, which effectively shows perception-related error control in order to further improve the system.