Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking
Affiliation(s)
1 College of Information Engineering, Al-Nahrain University, Baghdad, Iraq. 2 Department of Computer Engineering, Al-Nahrain University, Baghdad, Iraq.
1 College of Information Engineering, Al-Nahrain University, Baghdad, Iraq. 2 Department of Computer Engineering, Al-Nahrain University, Baghdad, Iraq.
ABSTRACT
This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user’s both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).
This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user’s both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).
Cite this paper
Al-Faiz, M. and Shanta, A. (2015) Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking. Intelligent Control and Automation, 6, 29-37. doi: 10.4236/ica.2015.61004.
Al-Faiz, M. and Shanta, A. (2015) Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking. Intelligent Control and Automation, 6, 29-37. doi: 10.4236/ica.2015.61004.
References
[1] Du, G.L., Zhang, P., Mai, J.H. and Li, Z.L. (2012) Markerless Kinect-Based Hand Tracking for Robot Teleoperation. International Journal of Advanced Robotic Systems, 9, 36. [2] Yussof, H., Capi, G., Nasu, Y., Yamano, M. and Ohka, M. (2011) A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot. International Journal of Advanced Robotic Systems, 8, 29-48. [3] Mitsantisuk, C., Katsura, S. and Ohishi, K. (2010) Force Control of Human-Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design. IEEE Transactions on Industrial Electronics, 57, 1338-1392. http://dx.doi.org/10.1109/TIE.2009.2030218 [4] Hirche, S. and Buss, M. (2012) Human-Oriented Control for Haptic Teleoperation. Proceedings of the IEEE, 100, 623-647. http://dx.doi.org/10.1109/JPROC.2011.2175150 [5] Villaverde, A.F., Raimundez, C. and Barreiro, A. (2012) Passive Internet-Based Crane Teleoperation with Haptic Aids. International Journal of Control Automation and Systems, 10, 78-87. [6] Wang, Z., Giannopoulos, E., Slater, M., Peer, A. and Buss, M. (2011) Handshake: Realistic Human-Robot Interaction in Haptic Enhanced Virtual Reality. Presence-Teleoperators and Virtual Environments, 20, 371-392. http://dx.doi.org/10.1162/PRES_a_00061 [7] Xu, D. and Acosta, A. (2005) An Analysis of the Inverse Kinematics for a 5-DOF Manipulator. International Journal of Automation and Computing, 2, 114-124.
http://dx.doi.org/10.1007/s11633-005-0114-1
[1] Du, G.L., Zhang, P., Mai, J.H. and Li, Z.L. (2012) Markerless Kinect-Based Hand Tracking for Robot Teleoperation. International Journal of Advanced Robotic Systems, 9, 36. [2] Yussof, H., Capi, G., Nasu, Y., Yamano, M. and Ohka, M. (2011) A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot. International Journal of Advanced Robotic Systems, 8, 29-48. [3] Mitsantisuk, C., Katsura, S. and Ohishi, K. (2010) Force Control of Human-Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design. IEEE Transactions on Industrial Electronics, 57, 1338-1392. http://dx.doi.org/10.1109/TIE.2009.2030218 [4] Hirche, S. and Buss, M. (2012) Human-Oriented Control for Haptic Teleoperation. Proceedings of the IEEE, 100, 623-647. http://dx.doi.org/10.1109/JPROC.2011.2175150 [5] Villaverde, A.F., Raimundez, C. and Barreiro, A. (2012) Passive Internet-Based Crane Teleoperation with Haptic Aids. International Journal of Control Automation and Systems, 10, 78-87. [6] Wang, Z., Giannopoulos, E., Slater, M., Peer, A. and Buss, M. (2011) Handshake: Realistic Human-Robot Interaction in Haptic Enhanced Virtual Reality. Presence-Teleoperators and Virtual Environments, 20, 371-392. http://dx.doi.org/10.1162/PRES_a_00061 [7] Xu, D. and Acosta, A. (2005) An Analysis of the Inverse Kinematics for a 5-DOF Manipulator. International Journal of Automation and Computing, 2, 114-124.
http://dx.doi.org/10.1007/s11633-005-0114-1