Capture system for human motion imitation by a fixed base planar robot
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Date
2014-12-20
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Universidad Antonio Nariño
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COAR type
http://purl.org/coar/resource_type/c_6501
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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.