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

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.