Teleoperation control of Baxter robot based on human motion capture

	Teleoperation control of Baxter robot based on human motion capture
	Guangzhu Peng; Chenguang Yang; Yiming Jiang; Long Cheng; Peidong Liang
	2016
会议名称	IEEE International Conference on Information and Automation (ICIA)
会议日期	AUG 01-03, 2016
会议地点	Ningbo
会议举办国	China
摘要	The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23132
专题	复杂系统认知与决策实验室_先进机器人
推荐引用方式 GB/T 7714	Guangzhu Peng,Chenguang Yang,Yiming Jiang,et al. Teleoperation control of Baxter robot based on human motion capture[C],2016.