Human upper limbs movements imitation in a humanoid robot using a natural user interface

Acurio Maldonado Santiago Alejandro; Robayo Jácome Darío Javier; Acurio Maldonado Daniel Marcelo; Amancha Proaño Pablo; Cárdenas Salazar Álvaro

Human upper limbs movements imitation in a humanoid robot using a natural user interface

Acurio Maldonado Santiago Alejandro, Robayo Jácome Darío Javier, Acurio Maldonado Daniel Marcelo, Amancha Proaño Pablo, Cárdenas Salazar Álvaro

PUCE Ambato

Research output: Contribution to journal › Article › peer-review

Abstract

The aim of this study is to control the upper limbs of a humanoid robot so that it follows the movements of a user, captured by a natural interface. To meet this objective, a Kinect device and SDK developer libraries have been used to represent the human skeleton with joints and bones. The vector and angular quantities of the upper limbs are calculated using information from the Kinect device. These values are then transformed through Visual C # encoded algorithms. Finally, this data is sent by an RS232 serial connection to each servomotor in the humanoid robot’s limbs. The result of the application is a similar movement between the user and the humanoid with one or both arms. Further studies will enable the complete movement of an imitator robot.

Original language	English
Pages (from-to)	108-119
Number of pages	12
Journal	RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao
Volume	2019
Issue number	E22
State	Published - 2019

Bibliographical note

Publisher Copyright:
© 2019, Associacao Iberica de Sistemas e Tecnologias de Informacao. All rights reserved.

Keywords

Humanoid robot
Kinect
RoboBuilder
Serial communication
Upper limbs movement
Visual C#

Cite this

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title = "Human upper limbs movements imitation in a humanoid robot using a natural user interface",

abstract = "The aim of this study is to control the upper limbs of a humanoid robot so that it follows the movements of a user, captured by a natural interface. To meet this objective, a Kinect device and SDK developer libraries have been used to represent the human skeleton with joints and bones. The vector and angular quantities of the upper limbs are calculated using information from the Kinect device. These values are then transformed through Visual C # encoded algorithms. Finally, this data is sent by an RS232 serial connection to each servomotor in the humanoid robot{\textquoteright}s limbs. The result of the application is a similar movement between the user and the humanoid with one or both arms. Further studies will enable the complete movement of an imitator robot.",

keywords = "Humanoid robot, Kinect, RoboBuilder, Serial communication, Upper limbs movement, Visual C#",

author = "Alejandro, {Acurio Maldonado Santiago} and {Dar{\'i}o Javier}, {Robayo J{\'a}come} and Marcelo, {Acurio Maldonado Daniel} and Pablo, {Amancha Proa{\~n}o} and {\'A}lvaro, {C{\'a}rdenas Salazar}",

year = "2019",

language = "English",

volume = "2019",

pages = "108--119",

journal = "RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao",

issn = "1646-9895",

publisher = "Associacao Iberica de Sistemas e Tecnologias de Informacao (AISTI)",

number = "E22",

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Human upper limbs movements imitation in a humanoid robot using a natural user interface. / Alejandro, Acurio Maldonado Santiago; Darío Javier, Robayo Jácome; Marcelo, Acurio Maldonado Daniel et al.
In: RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao, Vol. 2019, No. E22, 2019, p. 108-119.

Research output: Contribution to journal › Article › peer-review

TY - JOUR

T1 - Human upper limbs movements imitation in a humanoid robot using a natural user interface

AU - Alejandro, Acurio Maldonado Santiago

AU - Darío Javier, Robayo Jácome

AU - Marcelo, Acurio Maldonado Daniel

AU - Pablo, Amancha Proaño

AU - Álvaro, Cárdenas Salazar

PY - 2019

Y1 - 2019

N2 - The aim of this study is to control the upper limbs of a humanoid robot so that it follows the movements of a user, captured by a natural interface. To meet this objective, a Kinect device and SDK developer libraries have been used to represent the human skeleton with joints and bones. The vector and angular quantities of the upper limbs are calculated using information from the Kinect device. These values are then transformed through Visual C # encoded algorithms. Finally, this data is sent by an RS232 serial connection to each servomotor in the humanoid robot’s limbs. The result of the application is a similar movement between the user and the humanoid with one or both arms. Further studies will enable the complete movement of an imitator robot.

AB - The aim of this study is to control the upper limbs of a humanoid robot so that it follows the movements of a user, captured by a natural interface. To meet this objective, a Kinect device and SDK developer libraries have been used to represent the human skeleton with joints and bones. The vector and angular quantities of the upper limbs are calculated using information from the Kinect device. These values are then transformed through Visual C # encoded algorithms. Finally, this data is sent by an RS232 serial connection to each servomotor in the humanoid robot’s limbs. The result of the application is a similar movement between the user and the humanoid with one or both arms. Further studies will enable the complete movement of an imitator robot.

KW - Humanoid robot

KW - Kinect

KW - RoboBuilder

KW - Serial communication

KW - Upper limbs movement

KW - Visual C#

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VL - 2019

SP - 108

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JO - RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao

JF - RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao

IS - E22

ER -

Human upper limbs movements imitation in a humanoid robot using a natural user interface

Abstract

Bibliographical note

Keywords

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Cite this