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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Universidad Antonio Nariño
2021
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| 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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| 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/publishedVersion |
| id | repositorio.uan.edu.co-123456789-3948 |
| institution | Repositorio Digital UAN |
| language | spa |
| publishDate | 2021 |
| publisher | Universidad Antonio Nariño |
| record_format | dspace |
| spelling | repositorio.uan.edu.co-123456789-39482024-10-09T23:19:39Z 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. Motion Capture Kinect Robot biomechanical models Captura de movimiento Kinect Robot Modelos biomecánicos 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. 2021-06-16T13:53:11Z 2021-06-16T13:53:11Z 2014-12-20 info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 info:eu-repo/semantics/article http://purl.org/coar/version/c_970fb48d4fbd8a85 http://revistas.uan.edu.co/index.php/ingeuan/article/view/384 http://repositorio.uan.edu.co/handle/123456789/3948 spa http://revistas.uan.edu.co/index.php/ingeuan/article/view/384/322 Acceso abierto Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/ info:eu-repo/semantics/openAccess http://purl.org/coar/access_right/c_abf2 application/pdf Universidad Antonio Nariño 2346-1446 2145-0935 INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 5 Núm. 9 (2014) |
| spellingShingle | Motion Capture Kinect Robot biomechanical models Captura de movimiento Kinect Robot Modelos biomecánicos 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 | Motion Capture Kinect Robot biomechanical models Captura de movimiento Kinect Robot Modelos biomecánicos |
| url | http://revistas.uan.edu.co/index.php/ingeuan/article/view/384 http://repositorio.uan.edu.co/handle/123456789/3948 |
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