Paper Info
Title
Standardized linearization and vectorization algorithm for arm motion control of a humanoid telepresence robot
Abstract
Recently, the new motion sensor: the Kinect is being used for natural motion retrieval with no additional equipment on the operator, less computational demand, and it is cost effective. But many restrictions apply because the results retrieved from the Kinect include noisy data which disturbs precise and smooth robot motion control. We propose a simple linearization algorithm to improve the accuracy of the data retrieved from the Kinect and designed a vectorization algorithm for converting positions of an operator's skeleton in three dimensions to robot motions. In this paper, we provide the algorithm and its implementation. Furthermore, we demonstrate the performance of the algorithm using the prototype robot.
Year
DOI
Venue
2013
10.1109/ISR.2013.6695623
Robotics
Keywords
DocType
Citations 
humanoid robots,image motion analysis,image thinning,linearisation techniques,manipulators,motion control,position control,telerobotics,Kinect,arm motion control,computational demand,data retrieval,humanoid telepresence robot,motion sensor,natural motion retrieval,noisy data,operator skeleton position,smooth robot motion control,standardized linearization algorithm,vectorization algorithm,Humanoid Telepresence Robot,Kinect,Motion Sensor
Conference
0
PageRank 
References 
Authors
0.34
2
4
Name
Order
Citations
PageRank
Michael Waddell100.34
Joel Villasuso200.34
Daniela ChavezGuevera300.34
Jong-Hoon Kim401.35