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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| Main Authors: | , |
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| Format: | info:eu-repo/semantics/publishedVersion |
| Language: | spa |
| Published: |
Universidad Antonio Nariño
2021
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| Subjects: | |
| Online Access: | http://revistas.uan.edu.co/index.php/ingeuan/article/view/384 http://repositorio.uan.edu.co/handle/123456789/3948 |
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| Summary: | 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. |
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