Capture system for human motion imitation by a fixed base planar robot
This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint...
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| Format: | info:eu-repo/semantics/article |
| Language: | spa |
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UNIVERSIDAD ANTONIO NARIÑO
2014
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| Online Access: | https://revistas.uan.edu.co/index.php/ingeuan/article/view/384 https://repositorio.uan.edu.co/handle/123456789/10453 |
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| author | Bravo M., Diego A. Rengifo R., Carlos F. |
| author_facet | Bravo M., Diego A. Rengifo R., Carlos F. |
| author_sort | Bravo M., Diego A. |
| collection | DSpace |
| description | This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint coordinates (q1 , q2 , ..., q9 ), which are the angular positions of reference for the robot. These reference trajectories were used to imitate human movement by a planar robot with nine degrees of freedom. |
| format | info:eu-repo/semantics/article |
| id | repositorio.uan.edu.co-123456789-10453 |
| institution | Repositorio Digital UAN |
| language | spa |
| publishDate | 2014 |
| publisher | UNIVERSIDAD ANTONIO NARIÑO |
| record_format | dspace |
| spelling | repositorio.uan.edu.co-123456789-104532024-10-14T03:45:37Z Capture system for human motion imitation by a fixed base planar robot Sistema de captura para la imitación del movimiento humano por un robot planar de base fija Bravo M., Diego A. Rengifo R., Carlos F. Captura de movimiento Kinect Robot Modelos biomecánicos Motion Capture Kinect Robot biomechanical models This paper shows the implementation of a motion capture system of low cost, using Kinect for imitation of movement in the frontal plane with a fixed base planar robot. The inverse kinematics for mapping human motion through Cartesian coordinates (x, y, z) provided by sensor and turn them into joint coordinates (q1 , q2 , ..., q9 ), which are the angular positions of reference for the robot. These reference trajectories were used to imitate human movement by a planar robot with nine degrees of freedom. En este trabajo se muestra la implementación de un sistema de captura de movimiento de bajo costo, utilizando Kinect \texttrademark, para la imitación de movimiento en el plano frontal mediante un robot planar de base fija. Se hizo un estudio de la cinemática inversa para mapear el movimiento humano con las coordenadas cartesianas $(x,y,z)$ que entrega el sensor y transformarlas en coordenadas articulares $(q_1,q_2,\ldots,q_9)$ que son las posiciones angulares de referencia para el robot. Estas trayectorias de referencia se utilizaron para imitar el movimiento humano por medio de un robot planar de nueve grados de libertad. 2014-12-20 2024-10-10T02:25:14Z 2024-10-10T02:25:14Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 http://purl.org/coar/version/c_970fb48d4fbd8a85 https://revistas.uan.edu.co/index.php/ingeuan/article/view/384 https://repositorio.uan.edu.co/handle/123456789/10453 spa https://revistas.uan.edu.co/index.php/ingeuan/article/view/384/322 https://creativecommons.org/licenses/by-nc-sa/4.0 http://purl.org/coar/access_right/c_abf2 application/pdf UNIVERSIDAD ANTONIO NARIÑO INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014) 2346-1446 2145-0935 |
| spellingShingle | Captura de movimiento Kinect Robot Modelos biomecánicos Motion Capture Kinect Robot biomechanical models Bravo M., Diego A. Rengifo R., Carlos F. Capture system for human motion imitation by a fixed base planar robot |
| title | Capture system for human motion imitation by a fixed base planar robot |
| title_full | Capture system for human motion imitation by a fixed base planar robot |
| title_fullStr | Capture system for human motion imitation by a fixed base planar robot |
| title_full_unstemmed | Capture system for human motion imitation by a fixed base planar robot |
| title_short | Capture system for human motion imitation by a fixed base planar robot |
| title_sort | capture system for human motion imitation by a fixed base planar robot |
| topic | Captura de movimiento Kinect Robot Modelos biomecánicos Motion Capture Kinect Robot biomechanical models |
| url | https://revistas.uan.edu.co/index.php/ingeuan/article/view/384 https://repositorio.uan.edu.co/handle/123456789/10453 |
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