TY - GEN
T1 - Teleoperation control of Baxter robot using body motion tracking
AU - Reddivari, H.
AU - Yang, C.
AU - Ju, Z.
AU - Liang, P.
AU - Li, Z.
AU - Xu, B.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - In this paper, we use Kinect Xbox 360 sensor to implement the motion control of Baxter robot, a semi humanoid robot with limbs of 7 DOF joints with collision avoidance capabilities. Two different methods using vector approach and inverse kinematics approach have been designed to achieve a given task. Primitive experiments have been carried out to verify the effectiveness of the developed methods. Human motions is captured by Kinect sensor and calculated with Processing Software using SimpleOpenNI wrapper for OpenNI and NITE. UDP protocol is adopted to send reference motion to Baxter robot. Python and RosPy script programming kit is used to calculate joint angles of Baxter robot based on vector approach and inverse kinematics approach. The experimental results demonstrate that both of our proposed approaches have achieved satisfactory performance.
AB - In this paper, we use Kinect Xbox 360 sensor to implement the motion control of Baxter robot, a semi humanoid robot with limbs of 7 DOF joints with collision avoidance capabilities. Two different methods using vector approach and inverse kinematics approach have been designed to achieve a given task. Primitive experiments have been carried out to verify the effectiveness of the developed methods. Human motions is captured by Kinect sensor and calculated with Processing Software using SimpleOpenNI wrapper for OpenNI and NITE. UDP protocol is adopted to send reference motion to Baxter robot. Python and RosPy script programming kit is used to calculate joint angles of Baxter robot based on vector approach and inverse kinematics approach. The experimental results demonstrate that both of our proposed approaches have achieved satisfactory performance.
UR - https://www.scopus.com/pages/publications/84921267399
U2 - 10.1109/MFI.2014.6997722
DO - 10.1109/MFI.2014.6997722
M3 - 会议稿件
AN - SCOPUS:84921267399
T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Y2 - 28 September 2014 through 30 September 2014
ER -