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Journal : TELKOMNIKA Telecommunication, Computing, Electronics and Control

Realistic Motion Preservation-Imitation Development Through Kinect and Humanoid Robot

TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 10, No 4: December 2012
Publisher : Universitas Ahmad Dahlan

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Motion imitation has been a must for driving long-duration specific motion especially on humanoid robot. Generally, motion generation on robot is usually done through complex computation in off-line mode. Whereas for straightforward method, the operator drives robot to certain pose either with moving manipulator tool-tip with hand or remotely. Once the desired pose achieved, the current pose is saved to memory. On the other hand, an easy and  quick approach is by imitating an object motion to robot with sensing devices. There have been numerous efforts for motion imitation either by using position sensitive detector (PSD) or by using stereo camera. However, a calibrated pre-condition should be done initially, which is not possible for natural movement. Here, this paper developed motion preservation by capturing human motion naturally  through Kinect. And then reproduced human motion on humanoid robot simultaneously. The motions are also preserved in database for later used on robot motion generation and teaching as well. The proposed method has been validated in experimental results by capturing and reproducing human motion on robot in rate of 20Hz and computation cost of 340us for each process.