Development of Humanoid Robot Teaching System Based on a RGB-D Sensor

Jian Yu; Chun Tao Leng; Bo Li; Qi Mei Chen

doi:10.4028/www.scientific.net/AMM.551.134

Paper Titles

The Comparison between Swing-Constrain Reciprocating Piston Oil-Free Air Compressor and Traditional Compressor
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Research on Vibration Characteristics of Horn with Longitudinal Bending Vibration
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Vessel Traffic Flow Distribution Model of Bridge Area Waterway in the Middle Stream of Yangtze River
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Development of Humanoid Robot Teaching System Based on a RGB-D Sensor
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Filter Design of Power Battery Resistance Measuring for New Energy Vehicle
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Transient Vibration Analysis of Impact Ripper
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 551Development of Humanoid Robot Teaching System...

Development of Humanoid Robot Teaching System Based on a RGB-D Sensor

Abstract:

A 17 degree-of-freedom humanoid robot is developed, and a humanoid robot teaching system based on RGB-D sensor is proposed. Through the analysis of the robot’s joint configuration, the transformation formula from the Cartesian coordinate space to the joint space was deduced. Using Microsoft Kinect, the human body skeleton is mapped to the humanoid robot joint. To smooth data without causing delay, a Velocity-based Selective Mean Filter (VSMF) was proposed. The teaching system was applied on the small humanoid robot and the experiment results verified the effectiveness.

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Periodical:

Applied Mechanics and Materials (Volume 551)

Pages:

134-139

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.551.134

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Online since:

May 2014

Authors:

Jian Yu, Chun Tao Leng*, Bo Li, Qi Mei Chen

Keywords:

Humanoid Robot, RGB-D Sensor, Teaching System

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* - Corresponding Author

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